DynaRetarget refines human kinematic motions into dynamically feasible humanoid trajectories using incremental sampling-based trajectory optimization, achieving higher success rates than prior methods on diverse object interaction tasks.
Omnih2o: Universal and dexterous human-to-humanoid whole-body teleoperation and learning,
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DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
DynaRetarget refines human kinematic motions into dynamically feasible humanoid trajectories using incremental sampling-based trajectory optimization, achieving higher success rates than prior methods on diverse object interaction tasks.