Any2Any Transfers Humanoid Motions Across Robots Using SONIC LoRA

First paper I've seen published so far that uses SONIC as a foundation model for a dynamics task (in this case, cross-embodiment), via a LoRA. I'm working on a LoRA adapter right now on SONIC, and starting to get early results finally. It's the first really promising foundation model for humanoid motion! Clear to me we'll leave this year with the base "dynamics" part of humanoids essentially solved, and the "API" we all deal with, in operation and in training, will move up the stack to "what motions should be done, in response to sensory" instead of "do this without falling"