Author

Shi-Hang Du

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Preprint Oct 2026

CoCarry: Contact-Support-Structured Retargeting for Dual-Humanoid Cooperative Carrying

Recent advances in large-scale human motion data, motion retargeting, and motion imitation have enabled increasingly capable whole-body control for individual humanoids. Cooperative carrying is more challenging because successful coordination requires not only plausible individual motions, but also consistent cross-age...

Zi-Yu Lin, Shi-Hang Du, Tian-Hang Wang et al. · 0 citations

Preprint Oct 2026

Motion Retargeting with Spatiotemporal Preferences for Humanoid Loco-Manipulation

Simulation experiments on a Unitree G1 and real-world experiments on a Unitree R1 demonstrate that STR improves geometric contact coverage and continuity at lower computational cost, while the resulting references improve downstream task completion across diverse object-interaction motions.

Xiong-Bo Shi, Shi-Hang Du, Zong-You Yu et al. · 0 citations