Any2Any: 面向人形全身跟踪的高效跨本体迁移

Ming Yang, Tao Yu, Feng Li, Hua Chen

2026

摘要

本文提出Any2Any范式，通过运动学对齐和轻量级参数高效微调，将预训练的全身跟踪模型高效迁移到新的人形机器人平台上。实验表明，仅需1%的数据和计算量即可实现与从头训练相当甚至更优的跟踪性能。

whole-body trackingcross-embodiment transferparameter-efficient fine-tuninghumanoid robotskinematic alignment

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