Article

DSMS: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting

The study proposes DSMS, a contact-implicit, direct-simulation-based multiple shooting framework that converts kinematically feasible reference motions into dynamically feasible whole-body trajectories. It handles contact, friction, collision, and joint limits within a nonlinear program without presetting a contact schedule. Compared with existing retargeting methods, DSMS accelerates motion-imitation reinforcement learning training and yields policies with high success rates and low tracking error. The authors achieved zero-shot sim-to-real transfer on the Unitree G1, completing walking, jogging, contact-rich crawling, and a 180-degree jump-turn.

Part of the event: DSMS: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting

This page provides a summary and source link only.