Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization

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References (31)

[1]
DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
2026Victor Dhédin, Ilyass Taouil et al.
[2]
SoftMimic: Learning Compliant Whole-body Control from Examples
2025G. Margolis, Michelle Wang et al.
[3]
Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
2025Joao Pedro Araujo, Yanjie Ze et al.
[4]
BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
2025Qiayuan Liao, Takara Truong et al.
[5]
UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
2025Kangning Yin, Weishuai Zeng et al.
[6]
Physics-Informed Ground Reaction Dynamics from Human Motion Capture
2025Cuong Le, Huy-Phuong Le et al.
[7]
KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills
2025Weiji Xie, Jinrui Han et al.
[8]
HuB: Learning Extreme Humanoid Balance
2025Tong Zhang, Boyuan Zheng et al.
[9]
TWIST: Teleoperated Whole-Body Imitation System
2025Yanjie Ze, Zixuan Chen et al.
[10]
MotionPRO: Exploring the Role of Pressure in Human MoCap and Beyond
2025Shenghao Ren, Yi Lu et al.
[11]
ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
2025Tairan He, Jiawei Gao et al.
[12]
HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
2024Tairan He, Wenli Xiao et al.
[13]
HumanPlus: Humanoid Shadowing and Imitation from Humans
2024Zipeng Fu, Qingqing Zhao et al.
[14]
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
2024Tairan He, Zhengyi Luo et al.
[15]
Spatio-Temporal Motion Retargeting for Quadruped Robots
2024Taerim Yoon, Dongho Kang et al.
[16]
Expressive Whole-Body Control for Humanoid Robots
2024Xuxin Cheng, Yandong Ji et al.
[17]
GroundLink: A Dataset Unifying Human Body Movement and Ground Reaction Dynamics
2023Xingjian Han, Ben Senderling et al.
[18]
Perpetual Humanoid Control for Real-time Simulated Avatars
2023Zhengyi Luo, Jinkun Cao et al.
[19]
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[20]
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Showing 20 of 31 references

Founder's Pitch

"KinoDynamic Motion Retargeting optimizes humanoid locomotion through advanced trajectory techniques, enhancing stability and performance."

Humanoid RoboticsScore: 7View PDF ↗

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0-10 scale

High Potential

2/4 signals

5

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1/4 signals

2.5

Series A Potential

1/4 signals

2.5

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