Jun 2026
AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
The effectiveness of Any body, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time, is demonstrated by tracking large-scale human motions from arbitrary keypoint subsets, free-form control, flexibly teleoperating, and learning downstream behaviors including locomotion, in-air writing, and obstacle-reach.
Shuning Li, Sikai Li, Jiachen Li et al.
· arXiv.org · 1 citation