Author

Jia-Yi Chen

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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

GIF: Agentic Generation of Interactive and Functional Object Compositions for Robot Learning

GIF, an agentic Generation framework for Interactive and Functional object compositions, recast this problem as disentangled reconstruction followed by relative pose recovery, revealing diversity scaling in both simulation and real-world deployment.

Long-Ji Xu, Zhi-Qi Zhang, Mi Yan et al. · 2 citations · ⚡2

Sep 2026

PRVR: Learning Posture Recovery for a Legged Spherical Robot Using Vector Reward

Legged spherical robots feature both walking and rolling modes and they are useful in explorations, but often end up in various body-inverted postures after rolling and accidental falls. Posture recovery in such cases where all legs are in the air and lose leg-ground contacts is an open and challenging problem. We prop...

Jin-Kai Wang, Xin Xu, Chen-Kun Qi et al. · IEEE Robotics and Automation... · 0 citations