ReActor jointly optimizes motion retargeting and RL policy training with an approximate gradient to generate physically consistent robot motions from human references using only sparse body correspondences.
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Pith papers citing it
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cs.RO 2years
2026 2verdicts
UNVERDICTED 2representative citing papers
CWI decouples MoCap data for upper-body manipulation and lower-body locomotion, using dual discriminators and multi-critic training plus distillation to produce a policy that works from hand poses and velocity commands alone.
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ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting
ReActor jointly optimizes motion retargeting and RL policy training with an approximate gradient to generate physically consistent robot motions from human references using only sparse body correspondences.
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CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation
CWI decouples MoCap data for upper-body manipulation and lower-body locomotion, using dual discriminators and multi-critic training plus distillation to produce a policy that works from hand poses and velocity commands alone.