{"id":"https://openalex.org/W7140212981","doi":"https://doi.org/10.48550/arxiv.2603.22201","title":"Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control","display_name":"Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control","publication_year":2026,"publication_date":"2026-03-23","ids":{"openalex":"https://openalex.org/W7140212981","doi":"https://doi.org/10.48550/arxiv.2603.22201"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.22201","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22201","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.22201","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Zhao, Qingrui","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhao, Qingrui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yang, Kaiyue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Kaiyue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Wang, Xiyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xiyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhao, Shiqi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Shiqi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Lu, Yi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Yi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Zhang, Xinfang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xinfang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Shen, Qiu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Qiu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Long, Xiao-Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Long, Xiao-Xiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Cao, Xun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Xun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.28220000863075256,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.28220000863075256,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.21610000729560852,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.2029000073671341,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.8285999894142151},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.597000002861023},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.5253000259399414},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4869000017642975},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.4674000144004822},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.42250001430511475},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4203999936580658},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.399399995803833},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.38179999589920044},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.37940001487731934}],"concepts":[{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.8285999894142151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7336000204086304},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6419000029563904},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.599399983882904},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.597000002861023},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.5253000259399414},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4869000017642975},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.4674000144004822},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.42250001430511475},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4203999936580658},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.399399995803833},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.38179999589920044},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.37940001487731934},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.3747999966144562},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3646000027656555},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.3610999882221222},{"id":"https://openalex.org/C173552908","wikidata":"https://www.wikidata.org/wiki/Q1366289","display_name":"Graphics pipeline","level":4,"score":0.3434999883174896},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.34279999136924744},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3409999907016754},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.328900009393692},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.328000009059906},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.32179999351501465},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.3149000108242035},{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.29600000381469727},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.29010000824928284},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.28459998965263367},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.27720001339912415},{"id":"https://openalex.org/C159437735","wikidata":"https://www.wikidata.org/wiki/Q1519524","display_name":"Gesture recognition","level":3,"score":0.2768000066280365},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2766000032424927},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2743000090122223},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.27070000767707825},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26930001378059387},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.25600001215934753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.22201","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22201","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.22201","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.22201","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.5955381393432617}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Humanoid":[0],"robots":[1],"require":[2],"diverse":[3,167],"motor":[4],"skills":[5],"to":[6,40,44,104,152,185],"integrate":[7],"into":[8,83,108],"complex":[9],"environments,":[10],"but":[11],"bridging":[12,204],"the":[13,57,115,132,162,192,205],"kinematic":[14],"and":[15,38,50,126,156,180],"dynamic":[16,168],"embodiment":[17,207],"gap":[18],"from":[19],"human":[20,129],"data":[21,62,97,140],"remains":[22],"a":[23,73,84,95,142,200],"major":[24],"bottleneck.":[25],"We":[26,88],"demonstrate":[27],"through":[28],"Hessian":[29],"analysis":[30],"that":[31,78,99,146,175],"traditional":[32],"optimization-based":[33],"retargeting":[34],"is":[35],"inherently":[36],"non-convex":[37],"prone":[39],"local":[41],"optima,":[42],"leading":[43],"physical":[45],"artifacts":[46],"like":[47],"joint":[48,178],"jumps":[49,179],"self-penetration.":[51],"To":[52],"address":[53],"this,":[54],"we":[55,70],"reformulate":[56],"targeting":[58],"problem":[59],"as":[60],"learning":[61,122],"distribution":[63],"rather":[64],"than":[65],"optimizing":[66],"optimal":[67],"solutions,":[68],"where":[69],"propose":[71,90],"NMR,":[72],"Neural":[74],"Motion":[75],"Retargeting":[76],"framework":[77],"transforms":[79],"static":[80],"geometric":[81,158],"mapping":[82],"dynamics-aware":[85],"learned":[86],"process.":[87],"first":[89],"Clustered-Expert":[91],"Physics":[92],"Refinement":[93],"(CEPR),":[94],"hierarchical":[96],"pipeline":[98],"leverages":[100],"VAE-based":[101],"motion":[102,135],"clustering":[103],"group":[105],"heterogeneous":[106],"movements":[107],"latent":[109],"motifs.":[110],"This":[111],"strategy":[112],"significantly":[113,181],"reduces":[114,182],"computational":[116],"overhead":[117],"of":[118,194],"massively":[119],"parallel":[120],"reinforcement":[121],"experts,":[123],"which":[124],"project":[125],"repair":[127],"noisy":[128],"demonstrations":[130],"onto":[131],"robot's":[133],"feasible":[134],"manifold.":[136],"The":[137],"resulting":[138],"high-fidelity":[139],"supervises":[141],"non-autoregressive":[143],"CNN-Transformer":[144],"architecture":[145],"reasons":[147],"over":[148],"global":[149],"temporal":[150],"context":[151],"suppress":[153],"reconstruction":[154],"noise":[155],"bypass":[157],"traps.":[159],"Experiments":[160],"on":[161],"Unitree":[163],"G1":[164],"humanoid":[165],"across":[166],"tasks":[169],"(e.g.,":[170],"martial":[171],"arts,":[172],"dancing)":[173],"show":[174],"NMR":[176],"eliminates":[177],"self-collisions":[183],"compared":[184],"state-of-the-art":[186],"baselines.":[187],"Furthermore,":[188],"NMR-generated":[189],"references":[190],"accelerate":[191],"convergence":[193],"downstream":[195],"whole-body":[196],"control":[197],"policies,":[198],"establishing":[199],"scalable":[201],"path":[202],"for":[203],"human-robot":[206],"gap.":[208]},"counts_by_year":[],"updated_date":"2026-05-02T06:04:40.494371","created_date":"2026-03-25T00:00:00"}