Article

TaSP-KKT: Geometry-Aware Humanoid Motion Retargeting Based on Manifold ODEs

The study proposes TaSP-KKT, which models the continuous-time limit of OmniRetarget's per-frame KKT conditions as an ODE on the robot configuration manifold and implements motion retargeting through forward discretization. The method requires only one weighted tangent-cone projection and a closed-form manifold update per step, avoiding repeated inner SQP iterations. In numerical experiments, retargeting quality is comparable to OmniRetarget but slightly lower, while running speed is about twice as fast.

Part of the event: TaSP-KKT: Manifold ODE Accelerates Humanoid Motion Retargeting

This page provides a summary and source link only.