AnyBody: A Benchmark Suite for Cross-Embodiment Manipulation

Meenal Parakh, Alexandre Kirchmeyer, Beining Han, Jia Deng
Princeton University
Paper arXiv Code

AnyBody is a benchmark to evaluate cross-embodiment generalization ability by focusing on two foundational tasks—reach and push. It enables testing generalization across three axes of morphological variations: (1) interpolation, which evaluates performance within a robot category sharing the same link structure; (2) extrapolation, which tests performance on robots with different link structures; and (3) composition, which assesses performance on combinations of link structures.

BibTeX

@article{parakh2025anybody,
  author    = {Parakh, Meenal and Kirchmeyer, Alexandre and Han, Beining and Deng, Jia},
  title     = {AnyBody: A Benchmark Suite for Cross-Embodiment Manipulation},
  url       = {http://arxiv.org/abs/2505.14986},
  journal   = {arxiv},
  year      = {2025}
}