OTRetarget Enables Joint Human-to-Robot and Object Motion Retargeting
September 28, 2026
OTRetarget uses entropic optimal transport to jointly retarget human motion to humanoid robots while preserving interactions with objects. It represents surface interactions via signed distances and relative directions to ensure consistent contact during loco-manipulation.
HOW THIS AFFECTS YOU
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researcherYou can improve motion transfer for robots that must interact with a changing environment or multiple objects.