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

PKU EPIC Lab published the ZETA study on arXiv (arXiv:2609.02546), proposing a unified definition of zero-shot cross-embodiment VLA transfer and a controlled benchmark covering 14 held-out target embodiments, distinguishing strict zero-shot transfer from pretrain-exposed transfer. Experiments show that local end-effector state-action representations, source embodiment diversity, and auxiliary co-training improve transfer by about 15, 18, and 7 percentage points, respectively, and that adding only 5% target-embodiment data during pretraining raises average target-embodiment progress by 13.4 percentage points.

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