Author

Xuan Zhang

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Preprint Sep 2026

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

MachEmbodied-U0, a unified embodied foundation model connecting understanding and generation experts through a Mixture-of-Transformers architecture, is presented, a unified embodied foundation model connecting understanding and generation experts through a Mixture-of-Transformers architecture that combines competitive...

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

MOJITO is proposed, a unified sensor-to-action framework for end-to-end autonomous driving built on modal joint learning that performs block-wise Modal Joint Attention that simultaneously updates action, image, and LiDAR features, allowing the planner to directly access multi-modal features during action generation.

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