> For the complete documentation index, see [llms.txt](https://docs.openmind.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.openmind.com/release-notes/om1/beta.md). # beta ### [v1.0.2-beta.2](https://github.com/OpenMind/OM1/releases/tag/v1.0.2-beta.2) - latest #### What's New * Added Unitree Go2 patrol background plugin with autonomous patrol routes and back-and-forth patterns * Added conversation mode and person follow functionality for natural interactions with dynamic tracking * Introduced base ElevenLabs TTS connector for high-quality voice synthesis * Added Unitree G1 configuration and updated to Gemini 3.1 model * Added greeting conversation config with customizable greeting scenarios * Introduced GitHub Actions workflow for ECS deployments with environment-specific configurations #### Improvements * Refactored `_emit` method for message delivery with better error handling and comprehensive test coverage * Enhanced ASR provider logging and updated `om1-modules` dependency for improved debugging * Refined voice input extraction to remove surrounding quotes for better parsing accuracy * Simplified environment selection in release workflow for streamlined deployments * Included Jan in greeting prompts and agents for expanded interaction capabilities * Updated `om1-modules` revision with improved functionality #### Bug Fixes * Renamed `done_payment` to `down_payment` for correct terminology * Fixed farewell message handling in greeting conversations * Commented out problematic `ASR.stop()` call with TODO for future resolution #### Documentation * Added comprehensive premium feature documentation * Elaborated full autonomy documentation with detailed guides * General documentation updates and improvements across the codebase #### Dependency Updates * Upgraded testing dependencies: * `pytest` to `9.0.3` * `pytest-asyncio` to `1.3.0` * Updated core dependencies: * `gdown` from `5.2.0` to `5.2.2` * `python-multipart` from `0.0.22` to `0.0.26` * `python-dotenv` from `1.0.1` to `1.2.2` * Pinned `numpy` to `1.26.4` for stability #### Cleanup * Removed extra space in comment for code consistency ### [v1.0.2-beta.1](https://github.com/OpenMind/OM1/releases/tag/v1.0.2-beta.1) #### What’s New * Introduce MCP (Model Context Protocol) tools with reference configs and documentation * Add cron job scheduling feature * Add G1 arm action support for improved manipulation capabilities * Add alternative ASR language support and upgrade ASR modules * Add Chirp 3 (V2) ASR documentation with VAD support * Introduce auto done\_payment handling in ARM zenoh connector #### Improvements * Upgrade runtime to Python 3.12 with updated dependency requirements * Refactor LLM action naming and connector configs for consistency * Set default knowledge base to om * Use environment variables for model IDs * Improve code formatting and line length standards * Enhance documentation coverage with NumPy-style docstrings and general improvements * Update release notes structure and documentation links * zy-load FAISS and improve dependency handling * Upgrade Coinbase plugin #### Bug Fixes * Fix ASR prompt format alignment in TTS conversation storage * Fix schema script issues * Correct turn angle comments (90° → 30°) in zenoh.py * Fix GitBook configuration and documentation mappings #### Dependency Updates * Upgrade core dependencies including: * torch, fastapi, aiohttp, requests * cryptography, pyjwt, pillow, cbor2, pygments * Update development tooling: * black formatter * Refresh lockfiles and dependency versions across the stack #### Cleanup * Remove deprecated LLM plugins and introduce parallel stubs * General codebase cleanup and consistency improvements ### [v1.0.1-beta.3](https://github.com/OpenMind/OM1/releases/tag/v1.0.1-beta.3) * The single mode has been migrated to multi-mode. The same Cortex runtime now supports both single and multiple modes. * Fixed a bug where the previous LLM could persist when switching between modes. * Fixed a bug in the callback handling for Riva and Google ASR. * Improved the TTS duration calculation for the greeting mode. ### [v1.0.1-beta.2](https://github.com/OpenMind/OM1/releases/tag/v1.0.1-beta.2) * A huge performance improvement has been added. * Standardized the codebase to only support multimode configuration, removing the separate single-mode structure and related folders. Single-mode setups are still supported and are now automatically converted to multimode via the new runtime infrastructure. * Added support for monitoring and reporting the charging status of the Unitree Go2 robot. * Standardized generic sensor input types with robot-specific variants. New separate background processes added for Unitree G1, Go2 and Turtlebot4. * Docker now accepts OM\_COMMAND to switch config. * Refactored ApproachingPerson background plugin to use Zenoh for person-approaching events. * Updated the ElevenLabs TTS integration to reduce latency by switching from JSON/base64 audio responses to a live audio streaming output, and changes the default ElevenLabs output format to PCM at 16kHz. * OM1 now supports Isaac Sim. * Improved test coverage across plugins. ### [v1.0.1-beta.1](https://github.com/OpenMind/OM1/releases/tag/v1.0.1-beta.1) * Added support for LimX TRON * Ollama support added for local inference * Latest config version is now upgraded to v1.0.2 * Documentation updates * We've updated the full autonomy documentation for G1 and Go2 * Added documentation for Gazebo setup * Fixed typos and broken links across documentation * Refreshed docstrings throughout the codebase * Updated API endpoint documentation * Updated API pricing documentation and information regarding the new subscription plans * Introduced support for 'concurrent', 'sequential', and 'dependencies' action execution modes in orchestrator and configuration schemas * Added greeting conversation mode and state management * Added local support for Koroko and Riva model * Added person following mode * Improved unit test coverage for provider and input plugins ### [v1.0.0-beta.4](https://github.com/OpenMind/OM1/releases/tag/v1.0.0-beta.4) * Openrouter support for LLama and Anthropic: Added compatibility with OpenRouter API, enabling seamless access to more AI providers, including Meta’s LLaMA and Anthropic Claude models. This allows flexible model selection for natural language processing, reasoning, and control tasks depending on performance or cost preferences. * Support multiple modes: We now support 5 different modes with Unitree Go2 full autonomy. Welcome mode - Initial greeting and user information gathering Conversation - Focused conversation and social interaction mode Slam - Autonomous navigation and mapping mode Navigation - Autonomous navigation mode Guard - Patrol and security monitoring mode * Support face blurring and detection: The OpenMind Privacy System is a real-time, on-device face detection and blurring module designed to protect personal identity during video capture and streaming. It runs entirely on the Unitree Go2 robot’s edge device, requiring no cloud or network connectivity. All frame processing happens locally — raw frames never leave the device. Only the processed, blurred output is stored or streamed. The module operates offline and maintains low latency suitable for real-time applications * Support multiple RTSP inputs: The OpenMind RTSP Ingest Pipeline manages multiple RTSP inputs, supporting three camera feeds and one microphone input for synchronized streaming. The top camera feed is processed through the OpenMind face recognition module for detection, overlay, and FPS monitoring, while the microphone (default\_mic\_aec) handles audio capture and streaming. All processed video and audio streams are ingested through the OpenMind API RTSP endpoint, enabling multi-source real-time data flow within the system. * Support echo cancellation and remote video streaming: Use our portal to remotely display your face in our dog backpack and talk to people directly. * Support navigation and mapping: The Navigation and Mapping enables OM1 to move intelligently within its environment using two core modes: Navigation Mode and Slam Mode. In Slam Mode, the robot explores its surroundings autonomously, using onboard sensors to build and continuously update internal maps for spatial awareness and future navigation. This mode is typically used during initial setup or when operating in new or changing environments. In Navigation Mode, the robot travels between predefined points within an existing mapped area, leveraging maps generated in Slam Mode for path planning, obstacle avoidance, and safe movement to target locations. * Refactor AI control messaging: We now use function calls for taking actions. Here's our new flow - Actions -> Function calls params -> LLM -> Function calls -> Json Structure (CortexOutputModel). * Support Nvidia Thor: We now support Nvidia Thor for Unitree Go2 full autonomy. * Added release notes to our docs: The official documentation now includes a dedicated Release Notes section, making it easier to track feature updates, improvements, and bug fixes over time. This also improves transparency for developers and users integrating new releases. * Introducing Lifecycle Each operational mode in OM1 follows a defined lifecycle, representing the complete process from entry to exit of that mode. A mode lifecycle ensures predictable behavior, safe transitions, and consistent data handling across all system states. ### [v1.0.0-beta.3](https://github.com/OpenMind/OM1/releases/tag/v1.0.0-beta.3) * Downgraded Python to 3.10 for better Jetson support. * Integrated Nav2 for state feedback and target publishing, with auto AI-mode disable after localization. * Zenoh configs/sessions moved to zenoh\_msgs, now preferring local network before multicast. * Added avatar background server to communicate with the OM1-avatar * Improved avatar animation with thinking behavior and ASR response injection into prompts. * Added support for long range control of humanoids and quadrupeds using the TBS\_TANGO2 radios. * Added sleep mode for ASR, if there's no voice input for 5 min, it goes to sleep. ### [v1.0.0-beta.2](https://github.com/OpenMind/OM1/releases/tag/v1.0.0-beta.2) * Support for custom camera indices and enables both microphone and speaker functionality in Docker. ### [v1.0.0-beta.1](https://github.com/OpenMind/OM1/releases/tag/v1.0.0-beta.1) * Multiple LLM provider integrations(OpenAI, Gemini, Deepseek, xAI). * GoogleASR model for speech to text. * Riva and Eleven Labs for TTS. * Preconfigured support for Unitree Go2, G1, TurtleBot, Ubtech Yanshee. * Simulator support with Gazebo for Go2. * Multi-arch support - AMD64 and ARM64. --- # Agent Instructions This documentation is published with GitBook. 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