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 b
Record details
Published: 28 June 2026
Source: arXiv
Category: Research
Topics: Regulation
Retrieved: 14 July 2026
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ethics.ai (28 June 2026), “AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance,” evidence record 476, https://ethics.ai/record/476 (originally published by arXiv).
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