@misc{he2026elan4d,
  title         = {ELAN4D: Embodiment-Centric 4D Supervision for Vision-Language-Action Models via Plug-and-Play Adaptation},
  author        = {Zeyuan He and Bowen Yang and Zhirui Fang and Keru Zhou and Lei Jiang and Jingjing Qian and Fan Mo and Junchi Yan and Philip Torr and Xiu Li and Li Jiang and Jialin Yu},
  year          = {2026},
  eprint        = {2605.30484},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2605.30484}
}