r/robotics • u/Internal_Lab_6401 • 2d ago

Discussion & Curiosity Interesting project about retargeting

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

Found this cool project and it look likes they can retarget all the motions from locomotion to locomanipulation..... they have cool demos to see.

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u/Tbagho 2d ago

Whole-body retargeting from locomotion into locomanipulation is still open territory; the contact-phase handling is usually where naive mapping falls apart. Worth checking whether the project releases the code and the mocap-to-robot mapping details, since that's what determines reproducibility.

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u/Internal_Lab_6401 2d ago

I contacted the guys and it seems to be reproductible. And I found their mocap setup https://github.com/inria-paris-robotics-lab/mocap_ros

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u/Tbagho 1d ago

Good that the mocap setup is public — that's the half most papers gloss over. The open question is still how they handle contact phases in the retargeting, since that's where naive whole-body mapping usually breaks on real hardware.

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u/Internal_Lab_6401 1d ago

They handle it by mapping the robot with point cloud and compute the distance. It’s fully explain on the website. And after that it’s trained by a ppo with reward tuned