Engineer Open Sources Desktop Robot Using On-Device Model to Capture Emotions in Overlap Zones
面壁智能 · wechat · 2026-08-19
Engineer Yan Xin built the YRobot, a desktop companion robot featuring full-duplex interaction, using the MiniCPM-o4.5 model. The article argues that emotions are lost in text-only processing, while the multimodal streaming architecture of MiniCPM-o4.5 aligns video and audio on a shared timeline to capture interaction nuances. Built on $449 open-source hardware with 11GB memory usage (INT4), the project shares engineering insights on interruption handling, echo cancellation, and motion smoothing. The model, hardware design, and code are fully open-sourced.
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