Implicit Kinodynamic Motion Retargeting for Human-to-humanoid Imitation Learning

Anonymous author

arXiv Paper Code

Overview

A real-time method for retargeting large-scale human motion into robot-executable motion.

Third research result visualization

Retargeting Performance

By neural retargeting, We achieve processing speed >5000 fps

Retargeting Details

IKMR converts the human motion into robotics by skeleton features

Comparison

We compaire IKMR with common methods used in whole-body control

Real Robot

The final performance in the real robotics

Video Presentation