# UCA-Flow: Unified Condition-Action Modeling for One-Step Action Generation

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/lyhkxae6prltwjzq4umri3hgf
- Original: https://arxiv.org/abs/2608.16153

## Summary

UCA-Flow proposes a unified condition-action modeling framework that encodes observation conditions, timestep conditions, interval conditions, and action tokens into a single sequence, which a unified Transformer learns jointly to enable accurate one-step action generation.