DDR is a single-stage task-space framework using sampling-based MPC in a physics simulator to produce high-fidelity dynamically feasible references from video demos, claimed to outperform geometric and indirect retargeting baselines in tracking accuracy and to speed up RL training for agile humanoid
Kinodynamic motion retargeting for humanoid locomotion via multi-contact whole-body trajectory optimization,
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Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos
DDR is a single-stage task-space framework using sampling-based MPC in a physics simulator to produce high-fidelity dynamically feasible references from video demos, claimed to outperform geometric and indirect retargeting baselines in tracking accuracy and to speed up RL training for agile humanoid