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

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

General-purpose robot control requires models to understand task intent, identify where to interact, capture how the scene evolves, and generate precise actions. Vision-language-action models provide strong semantic priors but typically do not explicitly model scene dynamics, while world-action models couple visual prediction with control without necessarily exposing the task-relevant semantic and spatial structure needed for fine-grained manipulation. We present MachEmbodied-U0 (ME-U0), a unified embodied foundation model connecting understanding and generation experts through a Mixture-of-Tr

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