DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization

Victor Dhedin, Ilyass Taouil, Shafeef Omar +4

In this paper, we introduce DynaRetarget, a complete pipeline for retargeting human motions to humanoid control policies. The core component of DynaRetarget is a novel Sampling-Bas…