Preprint
Sep 2026
Unified Motion Retargeting for Humanoids with Learned Point Cloud Correspondence
Unified Motion Retargeting (UMR) is presented, a framework that learns dense point cloud correspondence without requiring manually designed human-robot mappings, and provides a scalable foundation for transforming large-scale human motion references into robot-ready training data.
Han-Yang Cao, Yu Fang, Tae-Joung Kwon et al.
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