Preprint
Sep 2026
OTRetarget: Joint Robot and Object Motion Retargeting via Optimal Transport
Transferring human motion to humanoid robots requires adapting the demonstrated motion to the robot morphology while preserving interactions with the environment. This is particularly challenging for loco-manipulation tasks, where contacts with the ground and manipulated objects must remain consistent despite differenc...
Guillaume Besset, Erwann Carn, Timothée Carecchio et al.
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