PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting

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. We introduce PriMoRetarget, a prioritized motion-retargeting framework that replaces relative objective weighting with an explicit priority hierarchy. 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. 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.

Robotics (cs.RO); Graphics (cs.GR)

arXiv:2610.12642 [cs.RO]

(or arXiv:2610.12642v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.12642 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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