Intelligence Across Embodiments

arXiv:2609.27095 · cs.RO, cs.AI, cs.LG · Submitted 2026-09-22 · Read on arXiv

cs.RO, cs.AI, cs.LG

Submitted: 2026-09-22

Updated: 2026-09-22

Terminology

• Adaptation — 11× in this paper · explained in 1 episode
• Conference on Robot Learning — 7× in this paper
• Generalization — 7× in this paper · explained in 13 episodes
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 3× in this paper · explained in 2 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Cross-Embodiment Transfer — 2× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Continual Learning — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Gaussian Splatting — 1× in this paper · explained in 4 episodes
• In-Context Learning — 1× in this paper · explained in 4 episodes
• Scaling Laws — 1× in this paper · explained in 4 episodes
• World Model — 1× in this paper · explained in 7 episodes
• Zero-Shot Generalization — 1× in this paper · explained in 5 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• Shape Your Body: Value Gradients for Multi-Embodiment Robot Design
• MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation
• DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
• Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
• Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design
• Emergence of Human to Robot Transfer in Vision-Language-Action Models
• RMA: Rapid Motor Adaptation for Legged Robots
• EgoWAM: World Action Models Beyond Pixels with In-the-Wild Egocentric Human Data
• Rapid Embodiment Adaptation for Quadrupedal Locomotion
• LocoFormer: Generalist Locomotion via Long-context Adaptation
• AnyBody: A Benchmark Suite for Cross-Embodiment Manipulation
• ${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities
• Cloak: Zero-Shot Cross-Embodiment Manipulation by Masking the End-Effector from the VLA
• DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation
• KITE: Decoupling Kinematics and Interaction for Zero-Shot Cross-Embodiment Manipulation
• LAP: Language-Action Pre-Training Enables Zero-shot Cross-Embodiment Transfer
• Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions

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• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving