Masking the end-effector from wrist views during training lets a single-gripper VLA transfer zero-shot to other grippers, arms, and five-fingered hands while keeping original performance.
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Cloak: Zero-Shot Cross-Embodiment Manipulation by Masking the End-Effector from the VLA
Masking the end-effector from wrist views during training lets a single-gripper VLA transfer zero-shot to other grippers, arms, and five-fingered hands while keeping original performance.