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Motorola Mobility is currently in the process of a limited rollout of Android 4.0 – Ice Cream Sandwich (Version 4.0.3/Package IML77 to be precise). Instead of waiting for the wider release you can manually upgrade your Xoom to ICS.

Your will need

• A USB host cable, and
• A USB thumbdrive, or an sd-card on a single card reader also works. Not too sure about those N-in-1 card readers – I’d stay away from those. Also, it doesn’t work from the micro-sd drive in the Xoom.

I use an SD-Card connected to the Xoom via micro-USB host cable and a USB-2.0 SD-Card reader. My Xoom is the Wifi model running the latest US Honecomb 3.2 (i.e. HTK75D).

Instructions:

1. Download the zip file from Google and save it into the root folder of your USB drive.
2. Connect the USB drive to the Xoom using a Host cable.
3. Shut down your Xoom.
4. Switch it on and press the Volume Down button as soon as the red Motorola logo appears.
5. It should say Android Recovery in the top left. If it doesn’t keep pressing Volume Down until you see it.
6. Press Volume Up to select the option.
7. When the Green Android with the Exclamation Point appears, hold the Power button and press Volume Up.
8. Select Update from USB drive.
9. Pick the downloaded zip file.
10. Enjoy your Ice Cream Sandwich!

Source: XDA Forums / Bauxite