Robust Humanoid Motion Retargeting

I coauthored this work on a robust, automated motion-retargeting pipeline for humanoid robots with diverse kinematic structures. I contributed to the implementation work required to execute the motion-retargeting code on physical robot platforms. The method maps motion from multiple sources to a common rig, refines infeasible poses and foot contact, and then optimizes robot-specific trajectories under physical constraints. Experiments covered 12 simulated robots and three real robot platforms. (Jeong et al., 2025)

Resources

Project Page · IEEE Xplore · PDF · GitHub

References

2025

IROS

Robust and Expressive Humanoid Motion Retargeting via Optimization-Based Rig Unification

Taemoon Jeong, Taehyun Byun, Jihoon Kim, and 6 more authors

In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025

DOI Bib HTML PDF Code Website

@inproceedings{jeong2025robust,
  title = {Robust and Expressive Humanoid Motion Retargeting via Optimization-Based Rig Unification},
  author = {Jeong, Taemoon and Byun, Taehyun and Kim, Jihoon and Choi, Keunjun and Oh, Jaesung and Lee, Sungpyo and Darwish, Omar and Kim, Joohyung and Choi, Sungjoon},
  booktitle = {2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages = {21619--21626},
  year = {2025},
  doi = {10.1109/IROS60139.2025.11246607},
}