PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting

What happened

arXiv:2610.12642v1 Announce Type: new Abstract: Motion retargeting is a critical preprocessing step for transferring human motion data to humanoid robots. While existing methods are effective for single-character motions, interactions involving multiple characters and objects introduce additional contacts and spatial relationships that must be preserved.

Retargeting is commonly formulated as a weighted multi-objective optimization problem, where conflicting objectives can require careful tuning of relative weights and can still compromise important motion characteristics. Lower-priority updates are constrained to preserve higher-priority objectives, allowing critical characteristics such as foot placement and interaction contacts to take precedence over lower-priority pose objectives. The method is evaluated on four datasets spanning single-character motion, character-object manipulation, and character-character interactions.