Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking
- Published
- Source
- arXiv
- Paper number
- 237
- Field
- Robotics
- arXiv ID
- 2605.23733
Key points
- A sparse scattering matrix handles the basic correspondence mapping target joints to source-batch joints, discarding extra joints and filling missing joints with zeros.
- The parallel joint coupling matrix handles nonserial mechanisms used by some robots, such as parallelogram-driven ankles, and corrects the mismatch between actuated joint angles and actual kinematic angles.
Paper links
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