1
OTRetarget: Joint Robot and Object Motion Retargeting via Optimal Transport
The paper presents OTRetarget, a method that jointly retargets human motion and object trajectories to humanoid robots using entropic optimal transport to map surface interaction descriptors. On the OMOMO benchmark it reaches 87 % Jaccard similarity and 8.7 mm depth error, and is validated on a real G1 robot with RL policies.
Hugging Face Daily Papersarxiv.org1 minpaper