A differentiable MuJoCo simulator is embedded in a multiple-shooting optimizer to generate dynamically feasible, contact-consistent reference motions that accelerate motion-imitation RL training and transfer zero-shot to hardware.
Motion retargeting for humanoid robots based on simultaneous morphing parameter identification and mo- tion optimization,
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Shooting for Contact: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting
A differentiable MuJoCo simulator is embedded in a multiple-shooting optimizer to generate dynamically feasible, contact-consistent reference motions that accelerate motion-imitation RL training and transfer zero-shot to hardware.