PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting

Key points

• 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.1
• 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.1
• We introduce PriMoRetarget, a prioritized motion-retargeting framework that replaces relative objective weighting with an explicit priority hierarchy.1
• The resulting motions better preserve task-relevant interactions and provide reference trajectories that can be tracked more reliably than those produced by widely used retargeting methods.1

Sources (1)

• [1]PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 8, 07:03 PM

  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.

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