The dynamics of gradient-based training in neural networks often exhibit nontrivial structures; hence, understanding them remains a central challenge in theoretical machine learning. In particular, a concept of feature unlearning, in which a neural network progressively loses previously learned features over long training, has gained attention. In this study, we consider the infinite-width limit of a two-layer neural network updated with a large-batch stochastic gradient, then derive differential equations with different time scales, revealing the mechanism and conditions for feature unlearning to occur. Specifically, we utilize the fast-slow dynamics: while an alignment of first-layer weights develops rapidly, the second-layer weights develop slowly. The direction of a flow on a critical manifold, determined by the slow dynamics, decides whether feature unlearning occurs. We give numerical validation of the result, and derive theoretical grounding and scaling laws of the feature unlearning. Our results yield the following insights: (i) the strength of the primary nonlinear term in data induces the feature unlearning, and (ii) an initial scale of the second-layer weights mitigates the feature unlearning.

Humans act with context and intention, with reasoning playing a central role. While internet-scale data has enabled broad reasoning capabilities in AI systems, grounding these abilities in physical action remains a major challenge. We introduce Lumo-1, a generalist vision-language-action (VLA) model that unifies robot reasoning ("mind") with robot action ("hand"). Our approach builds upon the general multi-modal reasoning capabilities of pre-trained vision-language models (VLMs), progressively extending them to embodied reasoning and action prediction, and ultimately towards structured reasoning and reasoning-action alignment. This results in a three-stage pre-training pipeline: (1) Continued VLM pre-training on curated vision-language data to enhance embodied reasoning skills such as planning, spatial understanding, and trajectory prediction; (2) Co-training on cross-embodiment robot data alongside vision-language data; and (3) Action training with reasoning process on trajectories collected on Astribot S1, a bimanual mobile manipulator with human-like dexterity and agility. Finally, we integrate reinforcement learning to further refine reasoning-action consistency and close the loop between semantic inference and motor control. Extensive experiments demonstrate that Lumo-1 achieves significant performance improvements in embodied vision-language reasoning, a critical component for generalist robotic control. Real-world evaluations further show that Lumo-1 surpasses strong baselines across a wide range of challenging robotic tasks, with strong generalization to novel objects and environments, excelling particularly in long-horizon tasks and responding to human-natural instructions that require reasoning over strategy, concepts and space.