Pith Number

pith:WV2OW65A

pith:2026:WV2OW65AL2ZT7KUQVQ3C4KDC2C

not attested not anchored not stored refs resolved

Pelican-Unified 1.0: A Unified Embodied Intelligence Model for Understanding, Reasoning, Imagination and Action

Che Liu, Haosong Sun, Haoyuan Shi, Jian Tang, Jiayu Hu, Jinpeng Lu, Jin Xu, Junwei Liao, Kuishu Wu, Nga Teng Chan, Renwen Cui, Senkang Hu, Shilong Zou, Wenhai Liu, Xiancong Ren, Xiaopeng Zhang, Xiaozhu Ju, Yang Xu, Yechen Wu, Yechi Liu, Yidong Wang, Yinda Chen, Yingji Zhang, Yi Zhang, Yong Dai, Zecong Tang, Zeyuan Ding

A single VLM-based model unifies understanding, reasoning, imagination, and action in one checkpoint without performance trade-offs.

arxiv:2605.15153 v1 · 2026-05-14 · cs.RO · cs.AI

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

With a single checkpoint, Pelican-Unified 1.0 achieves strong performance across all three capabilities: 64.7 on eight VLM benchmarks, the best among comparable-scale models; 66.03 on WorldArena, ranking first; and 93.5 on RoboTwin, the second-best average among compared action methods.

C2weakest assumption

That joint back-propagation of language, video, and action losses into a shared VLM representation produces a model whose performance on each capability matches or exceeds separately trained specialist systems without hidden trade-offs or benchmark-specific tuning.

C3one line summary

Pelican-Unified 1.0 trains a single VLM plus Unified Future Generator to jointly optimize understanding, reasoning, future video prediction, and action generation, reporting top-tier scores on VLM, WorldArena, and RoboTwin benchmarks.

References

57 extracted · 57 resolved · 17 Pith anchors

[1] N. Agarwal, A. Ali, M. Bala, Y. Balaji, E. Barker, T. Cai, P. Chattopadhyay, Y. Chen, Y. Cui, Y. Ding, et al. Cosmos world foundation model platform for physical ai, 2025 2025

[2] World Simulation with Video Foundation Models for Physical AI 2025 · arXiv:2511.00062

[3] Qwen3-VL Technical Report 2025 · arXiv:2511.21631

[4] H. Bi, H. Tan, S. Xie, Z. Wang, S. Huang, H. Liu, R. Zhao, Y. Feng, C. Xiang, Y. Rong, H. Zhao, H. Liu, Z. Su, L. Ma, H. Su, and J. Zhu. Motus: A unified latent action world model, 2025 2025

[5] $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control 2024 · arXiv:2410.24164

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-17T21:40:25.459139Z
Last reissued	2026-05-17T21:57:18.779538Z
Builder	pith-number-builder-2026-05-17-v1
Signature	unsigned_v0
Schema	pith-number/v1.0

Canonical hash

b574eb7ba05eb33faa90ac362e2862d084a56dab2b458c1a79efcfc14f10cedb

Aliases

arxiv: 2605.15153 · arxiv_version: 2605.15153v1 · pith_short_12: WV2OW65AL2ZT · pith_short_16: WV2OW65AL2ZT7KUQ · pith_short_8: WV2OW65A

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/WV2OW65AL2ZT7KUQVQ3C4KDC2C \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: b574eb7ba05eb33faa90ac362e2862d084a56dab2b458c1a79efcfc14f10cedb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1302cfeabe73feb2bf15a2c473d647c5a45cf2e070559a1f3b1945f1e6d588d5",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-14T17:50:42Z",
    "title_canon_sha256": "fbc61c28e0d7ad856aadcfdb063e0eb80407214c812b41febe2e76c06e74670d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.15153",
    "kind": "arxiv",
    "version": 1
  }
}