{"paper":{"title":"From Sign Language Generation to Humanoid Execution: Vision-Language Guided Retargeting with Collision Mitigation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.HC"],"primary_cat":"cs.RO","authors_text":"Benjamin Yen, Bowen Wu, Carlos Toshinori Ishi, Kazuhiro Nakadai, Nabeela Khan, Runwu Shi, Takashi Minato, Takeshi Ashizawa","submitted_at":"2026-07-20T10:02:18Z","abstract_excerpt":"Recent sign language generation (SLG) systems increasingly output dense 3D body representations, which better preserve full-body kinematics and geometry for downstream embodiment on humanoid robots. However, these generated motions frequently exhibit self-intersections such as hand-hand and hand-torso penetration. While such artifacts may be tolerated in offline rendering, they become critical in humanoid execution as they lead to infeasible inverse-kinematics (IK) solutions, collisions, and unstable retargeted trajectories. We present a system-level framework that bridges SLG outputs to human"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.17769","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.17769/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}