ZETA: A Controlled Study of Zero-Shot Cross-Embodiment VLA Transfer for Tabletop Manipulation
cs.RO
Submitted: 2026-09-02
Updated: 2026-10-11
Project page: https://theone2006.github.io/ZETA-Web
Sources
- Open X-Embodiment: Robotic Learning Datasets and RT-X Models
- DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset
- RH20T: A Comprehensive Robotic Dataset for Learning Diverse Skills in One-Shot
- BridgeData V2: A Dataset for Robot Learning at Scale
- AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems
- InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy
- RT-1: Robotics Transformer for Real-World Control at Scale
- OpenVLA: An Open-Source Vision-Language-Action Model
- GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
- CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation
- Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation
- Vision-Language Foundation Models as Effective Robot Imitators
- SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
- GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data
- SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model
- Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success
- DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control
- RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalization
- Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization
- One Policy to Run Them All: an End-to-end Learning Approach to Multi-Embodiment Locomotion
Related papers
- FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
- MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
- RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
- ARC: A Reasoning Recipe for Robot Foundation Models
- HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
- APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies