@article{tenmarobustcrossembodimentrobotmanipulat,
  title = {Tenma: Robust Cross-Embodiment Robot Manipulation with Diffusion Transformer},
  author = {Travis Davies and Yiqi Huang and Yunxin Liu and Xiang Chen and Huxian Liu and Luhui Hu},
  year = {2025},
  eprint = {2509.11865},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.11865},
}