mlsanityData to 7 Oct 2026

Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation

arXiv 2402.19432 ↗First posted 29 Feb 2024cs.ROcited by 60

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

Recent years in robotics and imitation learning have shown remarkable progress in training large-scale foundation models by leveraging data across a multitude of embodiments. The success of such policies might lead us to wonder: just how diverse can the robots in the training set be while still facilitating positive transfer? In this work, we study this question in the context of heterogeneous embodiments, examining how even seemingly very different domains, such as robotic navigation and manipulation, can provide benefits when included in the training data for the same model. We train a single goal-conditioned policy that is capable of controlling robotic arms, quadcopters, quadrupeds, and mobile bases. We then investigate the extent to which transfer can occur across navigation and manipulation on these embodiments by framing them as a single goal-reaching task. We find that co-training with navigation data can enhance robustness and performance in goal-conditioned manipulation with a wrist-mounted camera. We then deploy our policy trained only from navigation-only and static manipulation-only data on a mobile manipulator, showing that it can control a novel embodiment in a zero-shot manner. These results provide evidence that large-scale robotic policies can benefit from data collected across various embodiments. Further information and robot videos can be found on our project website http://extreme-cross-embodiment.github.io.

Key facts. Cited by 60 papers in the map (data through 7 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. First posted on arXiv 29 Feb 2024.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 19; 2025: 26; 2026: 15.

60 papers.

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  1. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  2. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 670
  3. 2025CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Modelscited by 440
  4. 2025UniVLA: Learning to Act Anywhere with Task-centric Latent Actionscited by 386
  5. 2024NaVILA: Legged Robot Vision-Language-Action Model for Navigationcited by 201
  6. 2024EgoMimic: Scaling Imitation Learning via Egocentric Videocited by 160
  7. 2024Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformerscited by 145
  8. 2026π0.7: a Steerable Generalist Robotic Foundation Model with Emergent Capabilitiescited by 127
  9. 2024Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviationcited by 108
  10. 2025OneTwoVLA: A Unified Vision-Language-Action Model with Adaptive Reasoningcited by 105
  11. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 82
  12. 2025Universal Actions for Enhanced Embodied Foundation Modelscited by 80
38 more
  1. 2025Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action Policycited by 73
  2. 2025Humanoid Policy ~ Human Policycited by 65
  3. 2024PoliFormer: Scaling On-Policy RL with Transformers Results in Masterful Navigatorscited by 55
  4. 2025AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldcited by 46
  5. 2024Diffusion Transformer Policycited by 41
  6. 2025Emergence of Human to Robot Transfer in Vision-Language-Action Modelscited by 36
  7. 2025Exploring the Limits of Vision-Language-Action Manipulations in Cross-task Generalizationcited by 31
  8. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 29
  9. 2026RDT2: Exploring the Scaling Limit of UMI Data Towards Zero-Shot Cross-Embodiment Generalizationcited by 29
  10. 2024Cross-Embodiment Dexterous Grasping with Reinforcement Learningcited by 24
  11. 2025Rethinking the Embodied Gap in Vision-and-Language Navigation: A Holistic Study of Physical and Visual Disparitiescited by 24
  12. 2025ViPRA: Video Prediction for Robot Actionscited by 24
  13. 2024Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulationcited by 22
  14. 2024TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learningcited by 21
  15. 2025Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimizationcited by 20
  16. 2025Rethinking Progression of Memory State in Robotic Manipulation: An Object-Centric Perspectivecited by 20
  17. 2026PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulationcited by 20
  18. 2026A Systematic Study of Data Modalities and Strategies for Co-training Large Behavior Models for Robot Manipulationcited by 20
  19. 2025Is Diversity All You Need for Scalable Robotic Manipulation?cited by 19
  20. 2026LAP: Language-Action Pre-Training Enables Zero-shot Cross-Embodiment Transfercited by 17
  21. 2024The One RING: a Robotic Indoor Navigation Generalistcited by 15
  22. 2025RobotArena ∞: Scalable Robot Benchmarking via Real-to-Sim Translationcited by 15
  23. 2024REGENT: A Retrieval-Augmented Generalist Agent That Can Act In-Context in New Environmentscited by 12
  24. 2024Effective Tuning Strategies for Generalist Robot Manipulation Policiescited by 10
  25. 2025OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learningcited by 10
  26. 2026HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulationcited by 10
  27. 2024PEAC: Unsupervised Pre-training for Cross-Embodiment Reinforcement Learningcited by 9
  28. 2025UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policiescited by 9
  29. 2025Tool-as-Interface: Learning Robot Policies from Observing Human Tool Usecited by 8
  30. 2025Toward Embodiment Equivariant Vision-Language-Action Policycited by 5
  31. 2026Beyond Data Scaling: Representation-Centric Continued Pre-training for Vision-Language-Action Modelscited by 5
  32. 2025AnyBody: A Benchmark Suite for Cross-Embodiment Manipulationcited by 4
  33. 2025DiffusionRL: Efficient Training of Diffusion Policies for Robotic Grasping Using RL-Adapted Large-Scale Datasetscited by 4
  34. 2025Embodied Co-Design for Rapidly Evolving Agents: Taxonomy, Frontiers, and Challengescited by 4
  35. 2025See Once, Then Act: Vision-Language-Action Model with Task Learning from One-Shot Video Demonstrationscited by 4
  36. 2026A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policiescited by 3
  37. 2024The State of Robot Motion Generationcited by 2
  38. 2026Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Controlcited by 2

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  1. 2026Latent Policy Steering: An Efficient and Flexible Framework for Cross-Embodiment Transfer ↗
  2. 2025COMPASS: Cross-embodiment Mobility Policy via Residual RL and Skill Synthesis
  3. 2024Representation Alignment from Human Feedback for Cross-Embodiment Reward Learning from Mixed-Quality Demonstrations
  4. 2025Scaling Cross-Embodiment World Models for Dexterous Manipulation
  5. 2025Latent Action Diffusion for Cross-Embodiment Manipulation
  6. 2026CEI: A Unified Interface for Cross-Embodiment Visuomotor Policy Learning in 3D Space
  7. 2026Cross-Embodiment Offline Reinforcement Learning for Heterogeneous Robot Datasets
  8. 2026EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment