Can robot motion skills transfer to different robot bodies?

Training humanoid robots to track complex full-body motions demands massive data and computation. Any2Any transfers pretrained motion models to new robot embodiments by aligning their joint structures (kinematic alignment) and fine-tuning only the dynamics-sensitive layers via parameter-efficient adaptation. On real platforms, the method successfully moved models trained on Unitree G1 to LimX Oli and Luna, achieving comparable tracking performance at 1% of the normal training cost.