Pan-tilt motion
Use controlled horizontal and vertical motion to give voice interaction a visible direction.
The NomiFun open-source family
Open-source pan-tilt project for Xiaozhi
NomiFun Xiaozhi Yuntai
Give a Xiaozhi robot a movable point of view and more expressive physical interaction, then combine it with local models, voice, and Agent capabilities from NomiFun Desktop.
- ESP32-S3
- Open firmware and hardware
- Voice / motion / viewing direction
Bring local AI into the physical world
An open project
Firmware, bill of materials, wiring, and build instructions live in the repository for reuse and modification.
Connect NomiFun
Combine Desktop models and open interfaces with local voice, Agent, and automation scenarios.
Real Xiaozhi Yuntai demo
Real Xiaozhi Yuntai demo
How the four projects work together
Desktop keeps the data and runs AI capabilities. Mobile and Xiaozhi provide interaction surfaces. Net Infra carries traffic across networks only when you deploy it.
- 1
Start Desktop
Configure models, companions, and Skills, then enable only the services you need under Remote & Open.
- 2
Connect Mobile
Scan Desktop’s one-time QR code, then use sessions, tasks, requirements, and companions from your phone.
- 3
Add the robot
Complete firmware and hardware setup from the Yuntai README, then connect voice and robot capabilities to Desktop.
- 4
Deploy a relay when needed
For cross-network access, self-host NomiRelay and nfagent. Mobile connects only to the business endpoint and never holds relay-admin credentials.
The NomiFun open-source family
Four open-source projects, one connected experience
Desktop owns local capabilities and data; Mobile and Xiaozhi provide different interaction surfaces. When access must cross networks, you can deploy Net Infra yourself. Every project has its own source, setup path, and product guide.
01 · DESKTOP Local AI workstation
NomiFun Desktop
Manage models, companions, Skills, knowledge, tasks, and workflows on Windows, macOS, and Linux — then expose those local capabilities to your phone and robot.
- Local data and model access
- Multi-Agent / Skills / MCP
- WebUI and remote APIs
Pocket control and collaboration
NomiFun Mobile
Connect to your Desktop and carry sessions, scheduled tasks, requirements, and companion status on your phone. Your own computer still does the work.
- QR connection to Desktop
- Sessions / tasks / requirements
- Companions and models
03 · XIAOZHI
Open robot platform
NomiFun Xiaozhi Yuntai
An open-source pan-tilt project for Xiaozhi robots, giving a voice assistant a movable point of view and a path into NomiFun local AI capabilities.
- ESP32-S3 open hardware project
- Pan-tilt motion and viewing direction
- Connects to Desktop AI services
04 · NET INFRA
Self-hosted network relay
NomiFun Net Infra
NomiRelay exposes Desktop and other services behind NAT to phones and IoT devices with QUIC-first transport, TCP fallback, a web console, and explicit access policy.
- HTTP / WebSocket / TCP / UDP
- QUIC first with TLS/TCP fallback
- Self-hosted, auditable, no hosted dependency