UMA treats object motion and robot actions as co-evolving variables under a masked generative objective with hindsight relabeling and contrastive disentanglement to support multi-task pretraining and deployment across heterogeneous robot data.
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Unified Motion-Action Modeling for Heterogeneous Robot Learning
UMA treats object motion and robot actions as co-evolving variables under a masked generative objective with hindsight relabeling and contrastive disentanglement to support multi-task pretraining and deployment across heterogeneous robot data.