# DSMS: Contact-Implicit Multiple Shooting for Dynamic Motion Retargeting

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/r2js728v53fhkox4g51iamm2l
- Original: https://arxiv.org/abs/2608.03116

## Summary

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.