Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
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Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots
arXiv:2606.03476v1 Announce Type: new Abstract: Retargeting human motion to humanoid robots is critical for teleoperation, imitation learning and human-robot interaction. However, it remains challenging because of substantial morphological discrepancies between humans and robots, including differences in skeletal topology, limb proportions and degrees of freedom, as well as the scarcity of paired motion data. This paper presents Human2Humanoid, an unsupervised motion retargeting framework...