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FAN is introduced, which achieves the highest performance and demonstrates consistent robustness, providing insightful guidance for building stable action representations in achieving effective lifelong VLA adaptation.
This work proposes UCA-Flow, a unified condition-action modeling framework for accurate one-step action generation that unifies observation conditions, timestep conditions, interval conditions, and action tokens into a single sequence, and processes them with a Unified Condition-Action Transformer for joint condition-a...
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