Article

Measuring Cross-Embodiment Transfer Without Fooling Yourself

2026-07-14

Abstract excerpt

Cross-embodiment transfer, the reuse of learned behavior across robots of different morphologies, is a central goal of generalist robot learning, and the quantitative claims made about it fail in a small set of specific, recurring ways. A transfer claim can ride a robot-class prior that a single bit reproduces, tighten a confidence interval by treating seeds as independent observations, credit pretraining diversit...

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Literature Corpus work: b4e6af0e-bc7a-5b0d-825d-1cac109f1631
DOI: 10.20944/preprints202607.0960.v1

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