@article{disentangledrobotlearningviaseparateforw,
  title = {Disentangled Robot Learning via Separate Forward and Inverse Dynamics Pretraining},
  author = {Wenyao Zhang and Bozhou Zhang and Zekun Qi and Wenjun Zeng and Xin Jin and Li Zhang},
  year = {2026},
  eprint = {2604.16391},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.16391},
}