SOURCE-LINKED INTELLIGENCE
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 different manipulation phases and imply different subsequent transitions. (ii) Prediction--execution mismatch. A visually plausible predicted future observation does not necessarily correspond to a physically realizable transition. (iii) Experience--realization mismatch. A historica
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-10T17:45:03.000Z
First collected: 2026-09-20T18:42:18.733Z. This is not the publication date.