BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video

arXiv:2609.29850 · cs.RO, cs.CV · Submitted 2026-09-24 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-24

Updated: 2026-09-24

Terminology

• Accuracy — 10× in this paper · explained in 1 episode
• Consistency — 10× in this paper · explained in 3 episodes
• Temporal consistency — 8× in this paper · explained in 2 episodes
• Alignment — 6× in this paper · explained in 1 episode
• Robustness — 4× in this paper · explained in 5 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Ablation — 2× in this paper · explained in 1 episode
• Core — 2× in this paper · explained in 2 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• Skinned Multi-Person Linear Model — 2× in this paper
• Abundance — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Attention Mechanism — 1× in this paper · explained in 2 episodes
• Decode — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Paper Review — 1× in this paper · explained in 2 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Temporal Context Aggregation Module — 1× in this paper
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
• PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation
• Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos
• Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control

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