ZEST: Zero-shot embodied skill transfer for athletic robot control

Jean Pierre Sleiman, He Li, Alphonsus Adu-Bredu, Robin Deits, Arun Kumar, Kevin Bergamin, Mohak Bhardwaj, Scott Biddlestone, Nicola Burger, Matthew A. Estrada, Francesco Iacobelli, Twan Koolen, Alexander Lambert, Erica Lin, M. Eva Mungai, Zach Nobles, Shane Rozen-Levy, Yuyao Shi, Jiashun Wang, Jakob Welner, Fangzhou Yu, Mike Zhang, Alfred Rizzi, Jessica Hodgins, Sylvain Bertrand, Yeuhi Abe, Scott Kuindersma, Farbod Farshidian

Open source

DOI: 10.1126/scirobotics.aec7695
Published: 2026-08-12
Container: Science Robotics
Publisher: American Association for the Advancement of Science (AAAS)
Open access: unknown

Credibility signals

uncertain Score 64/100 under policy 1.0.0. This is a metadata assessment, not a judgment of the paper's conclusions.

Show all credibility signals

supportingDOI registered: A matching record was returned by Crossref. Source: Crossref; license: CC0 metadata
supportingDOI resolves: A matching record was returned by Crossref. Source: Crossref; license: CC0 metadata
not scoredDirectory of Open Access Journals: No matching DOAJ record was present in this response. No allow-list match; this is not evidence of low credibility. Source: DOAJ; license: CC0
not scoredMEDLINE indexed: Not checked or no result supplied; no credibility inference made. Source: No authority result supplied; license: Unknown
not scoredOpenAlex core source: Not checked or no result supplied; no credibility inference made. Source: No authority result supplied; license: Unknown
not scoredKnown publisher allow-list: Not checked or no result supplied; no credibility inference made. Source: No authority result supplied; license: Unknown
not scoredROR affiliation: Not checked or no result supplied; no credibility inference made. Source: No authority result supplied; license: Unknown
not scoredRetraction Watch retraction: No retraction notice matched this DOI in the deployed snapshot. No matching event found; coverage may be incomplete. Source: Retraction Watch; license: CC BY 4.0
not scoredRetraction Watch expression of concern: No expression of concern notice matched this DOI in the deployed snapshot. No matching event found; coverage may be incomplete. Source: Retraction Watch; license: CC BY 4.0
not scoredRetraction Watch correction: No correction notice matched this DOI in the deployed snapshot. No matching event found; coverage may be incomplete. Source: Retraction Watch; license: CC BY 4.0
not scoredRetraction Watch reinstatement: No reinstatement notice matched this DOI in the deployed snapshot. No matching event found; coverage may be incomplete. Source: Retraction Watch; license: CC BY 4.0
not scoredOpen access status: Not checked or no result supplied; no credibility inference made. Source: No authority result supplied; license: Unknown
not scoredPublication license: Not checked or no result supplied; no credibility inference made. Source: No authority result supplied; license: Unknown
not scoredPublication version: A publication version was supplied but is not scored. Source: Normalized work metadata; license: Caller-provided; provenance license not supplied to scorer
supportingMetadata completeness: All 6 scored descriptive metadata groups are present. Source: Normalized work metadata; license: Caller-provided; provenance license not supplied to scorer

Cite this work

BibTeX

@article{allodium:10.1126/scirobotics.aec7695,
  title = {ZEST: Zero-shot embodied skill transfer for athletic robot control},
  author = {Jean Pierre Sleiman and He Li and Alphonsus Adu-Bredu and Robin Deits and Arun Kumar and Kevin Bergamin and Mohak Bhardwaj and Scott Biddlestone and Nicola Burger and Matthew A. Estrada and Francesco Iacobelli and Twan Koolen and Alexander Lambert and Erica Lin and M. Eva Mungai and Zach Nobles and Shane Rozen-Levy and Yuyao Shi and Jiashun Wang and Jakob Welner and Fangzhou Yu and Mike Zhang and Alfred Rizzi and Jessica Hodgins and Sylvain Bertrand and Yeuhi Abe and Scott Kuindersma and Farbod Farshidian},
  year = {2026},
  journal = {Science Robotics},
  doi = {10.1126/scirobotics.aec7695},
  url = {https://doi.org/10.1126/scirobotics.aec7695}
}

RIS

TY  - JOUR
TI  - ZEST: Zero-shot embodied skill transfer for athletic robot control
AU  - Jean Pierre Sleiman
AU  - He Li
AU  - Alphonsus Adu-Bredu
AU  - Robin Deits
AU  - Arun Kumar
AU  - Kevin Bergamin
AU  - Mohak Bhardwaj
AU  - Scott Biddlestone
AU  - Nicola Burger
AU  - Matthew A. Estrada
AU  - Francesco Iacobelli
AU  - Twan Koolen
AU  - Alexander Lambert
AU  - Erica Lin
AU  - M. Eva Mungai
AU  - Zach Nobles
AU  - Shane Rozen-Levy
AU  - Yuyao Shi
AU  - Jiashun Wang
AU  - Jakob Welner
AU  - Fangzhou Yu
AU  - Mike Zhang
AU  - Alfred Rizzi
AU  - Jessica Hodgins
AU  - Sylvain Bertrand
AU  - Yeuhi Abe
AU  - Scott Kuindersma
AU  - Farbod Farshidian
PY  - 2026
JO  - Science Robotics
DO  - 10.1126/scirobotics.aec7695
UR  - https://doi.org/10.1126/scirobotics.aec7695
ER  -

APA

Sleiman, J. P., Li, H., Adu-Bredu, A., Deits, R., Kumar, A., Bergamin, K., Bhardwaj, M., Biddlestone, S., Burger, N., Estrada, M. A., Iacobelli, F., Koolen, T., Lambert, A., Lin, E., Mungai, M. E., Nobles, Z., Rozen-Levy, S., Shi, Y., Wang, J., Welner, J., Yu, F., Zhang, M., Rizzi, A., Hodgins, J., Bertrand, S., Abe, Y., Kuindersma, S., & Farshidian, F. (2026). ZEST: Zero-shot embodied skill transfer for athletic robot control. Science Robotics. https://doi.org/10.1126/scirobotics.aec7695

Source records

crossref · retrieved 2026-09-24T20:41:08.866Z