AnyBody: A Benchmark Suite for Cross-Embodiment Manipulation
Fuente:
arXiv
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| Main Authors: | Parakh, Meenal, Kirchmeyer, Alexandre, Han, Beining, Deng, Jia |
|---|---|
| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | |
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