# CEI: A Unified Interface for Cross-Embodiment Visuomotor Policy Learning in 3D Space

arXiv: https://arxiv.org/abs/2601.09163 · HTML: https://mlsanity.com/paper/2601.09163/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Jan 2026.

## Built on by (most cited first, 3 of 3)

- [ZETA: A Controlled Study of Zero-Shot Cross-Embodiment VLA Transfer for Tabletop Manipulation](https://mlsanity.com/paper/2609.02546/) (2026)
- [CrossSafe: Towards Cross-Embodiment Latent Safety Filters](https://mlsanity.com/paper/2609.28984/) (2026)
- [Robot-GST: geometry-aware spatial-temporal robot policy representation and evaluation](https://mlsanity.com/paper/2609.33872/) (2026)

## Abstract (arXiv)

Robotic foundation models trained on large-scale manipulation datasets have shown promise in learning generalist policies, but they often overfit to specific viewpoints, robot arms, and especially parallel-jaw grippers due to dataset biases. To address this limitation, we propose Cross-Embodiment Interface (CEI), a framework for cross-embodiment learning that enables the transfer of demonstrations across different robot arm and end-effector morphologies. CEI introduces the concept of textitfunctional similarity, which is quantified using Directional Chamfer Distance. Then it aligns robot trajectories through gradient-based optimization, followed by synthesizing observations and actions for unseen robot arms and end-effectors. In experiments, CEI transfers data and policies from a Franka Panda robot to 16 different embodiments across 3 tasks in simulation, and supports bidirectional transfer between a UR5+AG95 gripper robot and a UR5+Xhand robot across 6 real-world tasks, achieving an average transfer ratio of 82.4%. Finally, we demonstrate that CEI can also be extended with spatial generalization and multimodal motion generation capabilities using our proposed techniques. Project website: https://cross-embodiment-interface.github.io/