X-Planner-9B-0916

X-Planner-9B-0916 is the first open release of X-Planner, a planning front end for long-horizon robot manipulation developed by X Square Robot and published on the company's official x-square-robot Hugging Face organization on September 16, 2026, under the Apache 2.0 license. The model is a Qwen3.5-based multimodal planner (Qwen3_5ForConditionalGeneration architecture, 9,409,813,744 stored parameters in BF16). It combines a high-level instruction, synchronized multi-view observations, and optional execution history to predict the next action-grounded event. It supports two interfaces: a readable event mode producing structured natural-language planning states, and a unified mode producing compact latent planning states via Staircase Decoding. The structured plan is passed to a downstream world-action model, making intermediate planning states explicit and inspectable. The release includes model weights, the X-Square-Robot/Xplanner inference code, the xplanner-benchmark on Hugging Face, and a technical report (X-Planner: Event-Structured Task Planning for Embodied Intelligence). Performance figures reported by X Square Robot are company-reported and have not been independently verified.