HIGenNTO: Scalable Humanoid Interaction Generation via Noise-Space Trajectory Optimization
Humanoid robots can acquire complex skills by imitating kinematic humanoid motion references, yet reliable references for contact-rich interactions remain difficult to obtain: motion capture deteriorates under occlusion and close physical contact, while retargeting introduces additional contact and geometric inconsiste...
Lalit Jayanti, Kashu Yamazaki, Yuto Shibata et al.
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