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Embodiment-Classifier Guidance: Transferring Frozen VLAs to New Robot Embodiments Without Demonstrations

The paper proposes Embodiment-Classifier Guidance, which trains a lightweight embodiment classifier and uses the classifier's gradient during denoising steps to guide a frozen π0 policy, enabling transfer to new robot embodiments without additional demonstrations or parameter updates.

Part of the event: Proposes embodiment-classifier guidance for demonstration-free transfer of a frozen VLA to new embodiments

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