Author

Ji-Long Wang

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Preprint Sep 2026

ZETA: A Controlled Study of Zero-Shot Cross-Embodiment VLA Transfer for Tabletop Manipulation

This work distinguishes strict and pretrain-exposed zero-shot transfer, where the target embodiment is absent from all training data, from pretrain-exposed zero-shot transfer, where it appears only during pretraining, and conducts a controlled analysis of four factors: state-action representations, pretraining embodime...

Mi Yan, Wen-Hao Zhang, Zhi-Qing Zhang et al. · 2 citations

Preprint Sep 2026

PASSAGE: Scaling Scene-Aligned Motion Learning for Perceptive Humanoid Traversal in Cluttered Environments

PASSAGE, a perception-conditioned planner--tracker framework for humanoid traversal, using virtual reality and inertial motion capture to collect 100 h of scene-aligned human motion across 1,500 cluttered scenes and tests across 50 unseen physical layouts demonstrate traversal without prebuilt maps or offboard computat...

Yuxuan Ma, Zi-Cheng Zeng, Chun-Li Peng et al. · 1 citation