Abstract
Motion retargeting is a critical preprocessing step for transferring human motion data to humanoid robots. While existing methods are effective for single-character motions, interactions involving multiple characters and objects introduce additional contacts and spatial relationships that must be preserved. Retargeting is commonly formulated as a weighted multi-objective optimization problem, where conflicting objectives can require careful tuning of relative weights and can still compromise important motion characteristics. We introduce PriMoRetarget, a prioritized motion-retargeting framework that replaces relative objective weighting with an explicit priority hierarchy. Lower-priority updates are constrained to preserve higher-priority objectives, allowing critical characteristics such as foot placement and interaction contacts to take precedence over lower-priority pose objectives. The method is evaluated on four datasets spanning single-character motion, character-object manipulation, and character-character interactions. The resulting motions better preserve task-relevant interactions and provide reference trajectories that can be tracked more reliably than those produced by widely used retargeting methods.
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URL
https://arxiv.org/abs/2610.12642
