PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots

arXiv:2609.23610 · cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.RO

Submitted: 2026-09-20

Updated: 2026-09-20

Code: https://github.com/Agibot-Spatial-Intelligence/PRIMO

Terminology

• Accuracy — 4× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Adaptive Sampling — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Sources

• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• SOMA: Unifying Parametric Human Body Models
• DB-VIO: Dual-Branch Visual Inertial Odometry with Enhanced Visual-Inertial Representation
• Frame Averaging for Invariant and Equivariant Network Design
• EqNIO: Subequivariant Neural Inertial Odometry
• OCELOT: Odometry and Contact Estimation for Legged Robots

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