Guillaume Besset

OTRetarget jointly retargets robot and multi-object motion by representing surface interactions through signed distances, closest surface points and relative directions, transferring these quantities across human, robot and object geometries with entropic optimal transport, and enforcing them in a per-frame constrained inverse kinematics that optimizes robot and object poses jointly; on OMOMO it reaches a robot-object interaction Jaccard of 87% and a depth error of 8.7 mm versus 28% and 29.3 mm for OmniRetarget, and transfers to a physical Unitree G1 for two-handed box pick-and-place onto a table.

OTRetarget jointly retargets robot and multi-object motion by representing surface interactions through signed distances, closest surface points and relative directions, transferring these quantities across human, robot and object geometries with entropic optimal transport, and enforcing them in a per-frame constrained inverse kinematics that optimizes robot and object poses jointly; on OMOMO it reaches a robot-object interaction Jaccard of 87% and a depth error of 8.7 mm versus 28% and 29.3 mm for OmniRetarget, and transfers to a physical Unitree G1 for two-handed box pick-and-place onto a table.