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cs.RO2026
OTRetarget: Joint Robot and Object Motion Retargeting via Optimal Transport
Guillaume Besset, Erwann Carn, Timothée Carecchio +5
Transferring human motion to humanoid robots requires adapting the demonstrated motion to the robot morphology while preserving interactions with the environment. This is particula…
cs.RO2026
Infeasible optimization problems and the hierarchical augmented Lagrangian method in imitation learning
Roland Andrews, Justin Carpentier, Ajay Sathya
Imitation learning (IL) is an effective approach to train complex robotics policies. Recent works have introduced hard constraints into imitation-learning optimization problems to…