DyPES-VLA: cross-embodiment robot manipulation hits 98% on LIBERO
Junfeng Li · hf · 2026-08-07
DyPES-VLA learns shared dynamics priors and embodiment-specific control for cross-embodiment manipulation. It trains VLM with future prediction, and uses embodiment-specific MoE action head to output native actions without manual alignment. Achieves SOTA: 98.0% on LIBERO, 59.25% on RoboCasa-GR1, 89.02% on RoboTwin 2.0.
Related event: DyPES-VLA: A New Paradigm for Cross-Embodiment Robot Manipulation(2 posts)→
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