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

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/rbw2lnapnlx8aysrty5oksysz
- Original: https://arxiv.org/abs/2610.22576

## Summary

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.