HKUST(GZ), Noitom Robotics & collaborators · Humanoid Retargeting

UMR

Retargets human motion onto humanoid robots without hand-crafted joint mappings, by learning dense point-cloud correspondence between human and robot exterior surfaces in canonical poses and then solving a constrained optimisation for pose alignment and contact transfer. Demonstrated across locomotion, object interaction and scene interaction against SOMA Proportional and SOMA Uniform baselines. The comparisons on the project page are qualitative video only, with no parameter counts or numeric tables published. Code on GitHub, paper on arXiv.