Pelican-Unify 1.0: A Unified Embodied Intelligence Model for Understanding, Reasoning, Imagination and Action
We present Pelican-Unify 1.0, the first embodied foundation model trained according to the principle of unification. Pelican-Unify 1.0 uses a single VLM as a unified understanding module, mapping scenes, instructions, visual contexts, and action histories into a shared semantic space. The same VLM also serves as a unified reasoning module, autoregressively producing task-, action-, and future-oriented chains of thought in a single forward pass and projecting the final hidden state into a dense latent variable. A Unified Future Generator (UFG) then conditions on this latent variable and jointly generates future videos and future actions through two modality-specific output heads within the...
| Authors | Yi Zhang, Yinda Chen, Che Liu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 14 May 2026 |
| Last updated at source | 21 May 2026 |
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