Any2Any transfers humanoid whole-body tracking models across embodiments via kinematic alignment followed by targeted PEFT, matching full-training performance with 1% of the data and compute on tested platforms.
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Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking
Any2Any transfers humanoid whole-body tracking models across embodiments via kinematic alignment followed by targeted PEFT, matching full-training performance with 1% of the data and compute on tested platforms.