Geometry-Preserving Human-to-Robot Upper-Body Motion Retargeting from Monocular Video

arXiv:2609.37776 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Project page: https://bear-ty.github.io/Beyondretarget_page

Terminology

• Adaptation — 6× in this paper · explained in 1 episode
• Calibration — 5× in this paper · explained in 7 episodes
• Consistency — 5× in this paper · explained in 3 episodes
• Transformer — 5× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Late Fusion — 2× in this paper · explained in 2 episodes
• Temporal consistency — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Conference on Computer Vision and Pattern Recognition — 1× in this paper
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Two-Stage Framework — 1× in this paper · explained in 2 episodes

Sources

• MHR: Momentum Human Rig
• SAM-Body4D: Training-Free 4D Human Body Mesh Recovery from Videos
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking

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