AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance
We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time. Prior physics-based trackers either rely on expensive full-body motion capture and error-prone trajectory retargeting, which bottleneck scalable data collection and policy learning, or decompose upper- and lower-body control into separate hierarchical representations, sacrificing the coordinated whole-body motions that loco-manipulation requires. We close this gap by learning a single latent motion representation that any keypoint subset can address. To achieve this, we first train a privileged teacher tracker on a large unstructured motion corpus and distill...
| Authors | Shuning Li, Sikai Li, Jiachen Li et al. |
|---|---|
| Primary category | cs.RO |
| Published | 28 June 2026 |
| Last updated at source | 28 June 2026 |
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