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Xin-Yu Zhou

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Preprint Aug 2026

Unified Condition-Action Modeling for Accurate One-Step Action Generation

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-action representation learning.

Xin-Yu Zhou, Zikun Cai, Kuangji Zuo et al. · 0 citations