NMR uses VAE-based clustered expert physics refinement and a CNN-Transformer to learn dynamics-aware retargeting, eliminating joint jumps and self-collisions on Unitree G1 while accelerating downstream control policies.
Learning human-to-humanoid real-time whole- body teleoperation,
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Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control
NMR uses VAE-based clustered expert physics refinement and a CNN-Transformer to learn dynamics-aware retargeting, eliminating joint jumps and self-collisions on Unitree G1 while accelerating downstream control policies.