Author

Zi-Wei Liu

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Preprint Sep 2026

UniMPA: A Unified Memory-Prediction-Action Model via Action-Grounded Transition Modeling

Recent advances in Vision-Language-Action (VLA) models have improved robotic manipulation, yet observation-to-action learning remains limited by a fundamental transition realizability gap, manifested in three tightly coupled problems: (i) Transition ambiguity. Visually similar current observations may correspond to dif...

Wei Li, Rui Shao, Jie He et al. · 0 citations

Preprint Aug 2026

Code as Worlds: Agentic Discovery of Executable World Representations for Physical Reasoning

Physical understanding and reasoning depend on forming compact and generalizable representations of the world. While modern vision-language models can recognize and explain diverse physical events, they often lack explicit representations of the underlying mechanisms-such as object states, physical parameters, and gove...

Han-Yang Wang, Yiyang Cai, Weiliang Chen et al. · 1 citation