人形机器人开发者终于有了低成本复用预训练模型的方法——Any2Any 用 1% 的数据和算力就能迁移全身跟踪能力，做机器人部署的团队可以直接参考。
全身跟踪（WBT）模型是人形机器人模仿多样动作的关键基础，但从头训练需要大量数据和计算资源。Any2Any 提出一种新范式，通过运动学对齐和轻量级参数高效微调（PEFT），将预训练的 WBT 模型快速迁移到新的人形机器人本体上。实验表明，仅需 1% 的计算和数据量，Any2Any 就能将基于 Unitree G1 预训练的 Sonic 模型成功迁移到 LimX Oli 和 LimX Luna 上，性能与从头训练相当甚至更优。这为快速部署人形机器人全身控制提供了可扩展的路径。
Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking
Whole-body tracking (WBT) models have become a key foundation for humanoid robots, enabling them to imitate diverse motions with high fidelity. Training such models from scratch requires large-scale data and computation, making rapid deployment on new humanoid platforms costly. This raises a natural question: Can pretrained WBT models transfer across embodiments with minimal adaptation? To answer this question, we propose Any2Any, a paradigm that efficiently transfers an existing WBT specialist to a new humanoid embodiment with only a small amount of data and compute. Any2Any first performs kinematic alignment between source and target humanoids, aligning their input and output spaces so that the pretrained source policy can be meaningfully reused on the target embodiment.Any2Any then performs dynamics adaptation by applying lightweight parameter-efficient fine-tuning (PEFT) components to selected dynamics-sensitive modules, preserving useful behavioral priors while enabling targeted adaptation to the target robot. Extensive experiments on multiple humanoid platforms and pretrained backbones show that Any2Any substantially accelerates convergence and reduces training cost compared with training from scratch, while achieving competitive or superior tracking performance. Notably, using only 1% of the compute and data required for full training, Any2Any successfully transfers Sonic models pre-trained on Unitree G1 to LimX Oli and LimX Luna. These results suggest that pretrained WBT specialists can be efficiently reused across embodiments, providing a scalable path toward deploying humanoid whole-body control on new robots.