Author

Xuan Zhang

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Preprint Sep 2026

MachEmbodied-U0: Unified Understanding and Generation Model for Embodied Intelligence

General-purpose robot control requires models to understand task intent, identify where to interact, capture how the scene evolves, and generate precise actions. Vision-language-action models provide strong semantic priors but typically do not explicitly model scene dynamics, while world-action models couple visual pre...

Hao-Ran Wen, Wen-Fu Wang, Kun-Song Shi et al. · 1 citation

Jul 2026

MOJITO: Modal Joint Learning for Unified End-to-End Autonomous Driving

End-to-end autonomous driving systems commonly follow a cascaded two-stage pipeline where a perception stage compresses multi-modal sensor inputs into a compact context and a downstream planner predicts trajectories conditioned on this context. We argue that this one-way perception-to-planning interface forces sensor i...

Zhijing Cheng, Xuan Zhang, Donglin Di et al. · arXiv.org · 0 citations