Traceable Human-to-Humanoid Sign Language Benchmarking

arXiv:2609.33354 · cs.RO · Submitted 2026-09-27 · Read on arXiv

cs.RO

Submitted: 2026-09-27

Updated: 2026-09-27

Terminology

• Benchmark — 15× in this paper · explained in 2 episodes
• Provenance — 12× in this paper · explained in 3 episodes
• Two-stage training — 10× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Alignment — 6× in this paper · explained in 1 episode
• Actor — 5× in this paper · explained in 3 episodes
• Aggregation — 4× in this paper · explained in 1 episode
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Accuracy — 2× in this paper · explained in 1 episode
• Benchmarking — 2× in this paper · explained in 3 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• International Conference on Robotics and Automation — 2× in this paper
• Trace — 2× in this paper · explained in 2 episodes
• Conference on Computer Vision and Pattern Recognition — 1× in this paper
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Physical Constraints — 1× in this paper · explained in 7 episodes

Sources

• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting
• Expressive Whole-Body Control for Humanoid Robots
• BackTranslation2.0 -- A Linguistically Motivated Metric to Assess Sign Language Production
• RTMPose: Real-Time Multi-Person Pose Estimation based on MMPose
• From Sign Language Generation to Humanoid Execution: Vision-Language Guided Retargeting with Collision Mitigation
• SPIDER: Scalable Physics-Informed Dexterous Retargeting
• SignBot: Learning Human-to-Humanoid Sign Language Interaction
• AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
• I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning
• Kinodynamic Motion Retargeting for Humanoid Locomotion via Multi-Contact Whole-Body Trajectory Optimization

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