UniBYD: A Unified Framework for Learning Robotic Manipulation Across Embodiments Beyond Imitation of Human Demonstrations. - Tingyu Yuan; Biaoliang Guan; Wen Ye; Ziyan Tian; Yi Yang 001; Weijie Zhou; Yan Huang 008; Peng Wang 015; Chaoyang Zhao; Jinqiao Wang (CoRR, 2025)