# STR: A Spatiotemporal Preference Motion Retargeting Method for Humanoid Loco-Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-23T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/imgqb885acjc0x9tuh04uukvy
- Original: https://arxiv.org/abs/2610.30540

## Summary

The authors propose a spatiotemporal retargeting method, STR, which uses a vision-language model to select relevant motion signals and body parts and identifies keyframes accordingly, allocating additional solver iterations to keyframes and higher interaction weights to the selected parts to reduce retargeting computational overhead.