OTRetarget: Joint Robot and Object Motion Retargeting via Optimal Transport

arXiv:2609.36602 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Optimal Transport — 11× in this paper · explained in 5 episodes
• Adaptation — 7× in this paper · explained in 1 episode
• Accuracy — 5× in this paper · explained in 1 episode
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Fidelity — 3× in this paper · explained in 2 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Point Clouds — 2× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Computer Vision and Pattern Recognition — 1× in this paper
• Core — 1× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reward Shaping — 1× in this paper · explained in 2 episodes

Sources

• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
• Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control
• TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
• MeshMimic: Geometry-Aware Humanoid Motion Learning through 3D Scene Reconstruction
• Learning Whole-Body Human-Humanoid Interaction from Human-Human Demonstrations
• DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• Direct Dynamic Retargeting for Humanoid Imitation Learning from Videos
• Proximal Policy Optimization Algorithms

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