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
Hub: Learning extreme humanoid balance,
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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