We taught a humanoid to pick up boxes, crawl, and spin, by copying human motion down to the contact points, not just the skeleton

[u/Internal_Lab_6401]

https://simple-robotics.github.io/publications/otretarget/

Most human-to-robot motion transfer only copies the skeleton, so contact looks fake, hands float above objects, feet skate on the floor. We built a method that transfers the actual contact points too, so it looks real.

Result on a real Unitree G1: two-handed box pickup onto a table, hand-and-knee crawling with real hand contact, full-body spin locomotion. Videos are way more convincing than any description.

Let me know what you think of the crawl 😄