@article{gemgenerativesupervisionhelpsembodiedint,
  title = {GEM: Generative Supervision Helps Embodied Intelligence},
  author = {Ruowen Zhao and Bangguo Li and Zuyan Liu and Yinan Liang and Junliang Ye and Fangfu Liu and Diankun Wu and Zhengyi Wang and Xumin Yu and Yongming Rao and Han Hu and Jun Zhu},
  year = {2026},
  eprint = {2605.28548},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.28548},
}