{"id":"https://openalex.org/W7163374003","doi":"https://doi.org/10.48550/arxiv.2606.03476","title":"Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots","display_name":"Human2Humanoid: Physics-Aware Cross-Morphology Motion Retargeting for Humanoid Robots","publication_year":2026,"publication_date":"2026-06-02","ids":{"openalex":"https://openalex.org/W7163374003","doi":"https://doi.org/10.48550/arxiv.2606.03476"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.03476","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.03476","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.03476","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068378237","display_name":"Tianqi Huang","orcid":"https://orcid.org/0009-0008-4028-8244"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Tianchen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137787396","display_name":"Feiyang Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Feiyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137772740","display_name":"Junchi Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gu, Junchi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108963940","display_name":"Shurui Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Shurui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100635891","display_name":"Xiaohu Zhang","orcid":"https://orcid.org/0000-0001-5654-1445"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Xiaohu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137765774","display_name":"Yu Wang","orcid":"https://orcid.org/0009-0003-3206-0833"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137751491","display_name":"Wei Gao","orcid":"https://orcid.org/0000-0003-3015-9621"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137784329","display_name":"Shiwu Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Shiwu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.37450000643730164,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.37450000643730164,"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/T12290","display_name":"Human Motion and Animation","score":0.3529999852180481,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.07109999656677246,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.8159000277519226},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7897999882698059},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5464000105857849},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5335000157356262},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.5159000158309937},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.40450000762939453},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.3961000144481659},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.34790000319480896}],"concepts":[{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.8159000277519226},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7897999882698059},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6805999875068665},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6730999946594238},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6172000169754028},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5464000105857849},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5335000157356262},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.5159000158309937},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.40450000762939453},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.3961000144481659},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.34790000319480896},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3411000072956085},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.33390000462532043},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3239000141620636},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.321399986743927},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.30230000615119934},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.26089999079704285},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2563000023365021},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2542000114917755},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2526000142097473}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.03476","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.03476","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.03476","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.03476","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":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6351255178451538}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Retargeting":[0],"human":[1,59,150],"motion":[2,46,54,91,112,151],"to":[3,61,88,110,130,152],"humanoid":[4,62,156],"robots":[5],"is":[6],"critical":[7],"for":[8],"teleoperation,":[9],"imitation":[10],"learning":[11],"and":[12,26,35,120,161,169],"human-robot":[13],"interaction.":[14],"However,":[15],"it":[16],"remains":[17],"challenging":[18],"because":[19],"of":[20,37,44,133],"substantial":[21],"morphological":[22],"discrepancies":[23],"between":[24],"humans":[25],"robots,":[27],"including":[28],"differences":[29],"in":[30,137,165],"skeletal":[31],"topology,":[32],"limb":[33],"proportions":[34],"degrees":[36],"freedom,":[38],"as":[39,41],"well":[40],"the":[42,70,134,138,145,153],"scarcity":[43],"paired":[45,159],"data.":[47],"This":[48],"paper":[49],"presents":[50],"Human2Humanoid,":[51],"an":[52],"unsupervised":[53],"retargeting":[55],"framework":[56],"that":[57,105,144],"transfers":[58],"motions":[60],"robot":[63,157],"behaviors":[64],"with":[65,82],"high":[66],"fidelity.":[67],"To":[68,93,116],"bridge":[69],"domain":[71],"gap":[72],"under":[73],"unpaired":[74],"data,":[75,160],"we":[76,98,124],"adopt":[77],"a":[78,83,100],"CycleGAN-based":[79],"architecture":[80],"equipped":[81],"skeleton-aware":[84],"graph":[85],"convolutional":[86],"network":[87],"capture":[89],"topology-dependent":[90],"features.":[92],"address":[94],"cross-domain":[95],"scale":[96],"mismatches,":[97],"introduce":[99],"morphology-invariant":[101],"end-effector":[102,108],"consistency":[103],"loss":[104],"aligns":[106],"normalized":[107],"trajectories":[109],"preserve":[111],"semantics":[113],"across":[114],"embodiments.":[115],"improve":[117],"physical":[118,170],"plausibility":[119],"reduce":[121],"contact":[122,135],"artifacts,":[123],"impose":[125],"explicit":[126],"physics-aware":[127],"feasibility":[128],"constraints":[129],"encourage":[131],"reproduction":[132],"patterns":[136],"source":[139],"motion.":[140],"Experimental":[141],"results":[142],"show":[143],"proposed":[146],"method":[147],"successfully":[148],"retargets":[149],"Unitree":[154],"G1":[155],"without":[158],"outperforms":[162],"existing":[163],"methods":[164],"both":[166],"downstream":[167],"controllability":[168],"feasibility.":[171]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-04T00:00:00"}
