EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment

Scalable robot imitation learning relies on large-scale heterogeneous data from diverse robots or body-free data, making Cartesian end-effector actions a key interface for embodiment-agnostic policy learning. However, end-effector-only abstraction leaves Cartesian policies unaware of the deployed robot body, making them brittle under robot-specific constraints such as whole-body collision avoidance. To overcome this limitation, we present EmbodiSteer, a training-free framework that steers embodiment-agnostic visuomotor policies toward zero-shot, embodiment-aware deployment. EmbodiSteer keeps policy learning in Cartesian space while efficiently lifting inference-time diffusion sampling into the target robot's joint space via forward kinematics and Jacobian-based updates. With whole-body collision-aware guidance over joint trajectories after each denoising step, the arm can be steered away from collisions while preserving learned end-effector behavior. Across 9 simulated robots, EmbodiSteer reduces collision rate by 46.1 percentage points and increases task success by 28.5 percentage points over Cartesian-only execution; on two physical robots in highly constrained scenarios, the respective improvements are 90.0 and 36.7 percentage points. Our project page is at https://frankwang67.github.io/EmbodiSteer-Page.