Preprint
Aug 2026
One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulation
UCAG-P is introduced, a camera-centric unified action formulation that structurally aligns heterogeneous embodied datasets into a shared geometric action space, and allows a shared VLA policy to learn transferable manipulation geometry while retaining embodiment-specific controllability.
Xiaomi Embodied Intelligence Team, University of Macau Shaoqing Xu, Fang Li et al.
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