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Cloak: Zero-Shot Cross-Embodiment Manipulation by Masking the End-Effector from the VLA
We present Cloak, a training recipe that endows a Vision-Language-Action (VLA) model with zero-shot cross-embodiment transfer by cloaking the end-effector from its own wrist camera. The end-effector occupies a large and consistent region of the wrist view and masking it allows for embodiment-agnosti
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