# Whole-Body Geometric Retargeting for Humanoid Robots

arXiv: https://arxiv.org/abs/1909.10080 · HTML: https://mlsanity.com/paper/1909.10080/

## Key facts

- Cited by 20 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 22 Sep 2019.

## Built on by (most cited first, 20 of 20)

- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [HumanPlus: Humanoid Shadowing and Imitation from Humans](https://mlsanity.com/paper/2406.10454/) (2024)
- [Expressive Whole-Body Control for Humanoid Robots](https://mlsanity.com/paper/2402.16796/) (2024)
- [Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation](https://mlsanity.com/paper/2403.04436/) (2024)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [ExBody2: Advanced Expressive Humanoid Whole-Body Control](https://mlsanity.com/paper/2412.13196/) (2024)
- [OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation](https://mlsanity.com/paper/2410.11792/) (2024)
- [AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control](https://mlsanity.com/paper/2505.03738/) (2025)
- [From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots](https://mlsanity.com/paper/2506.12779/) (2025)
- [ImitationNet: Unsupervised Human-to-Robot Motion Retargeting via Shared Latent Space](https://mlsanity.com/paper/2309.05310/) (2023)
- [I-CTRL: Imitation to Control Humanoid Robots Through Constrained Reinforcement Learning](https://mlsanity.com/paper/2405.08726/) (2024)
- [XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration](https://mlsanity.com/paper/2406.15833/) (2024)
- [TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation](https://mlsanity.com/paper/2505.12748/) (2025)
- [A Scalable Whole-body Motion Transfer via Implicit Kinodynamic Motion Retargeting](https://mlsanity.com/paper/2509.15443/) (2025)
- [GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation](https://mlsanity.com/paper/2508.09960/) (2025)
- [PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation](https://mlsanity.com/paper/2606.26741/) (2026)
- [Redefining Data Pairing for Motion Retargeting Leveraging a Human Body Prior](https://mlsanity.com/paper/2409.13208/) (2024)
- [Effective Virtual Reality Teleoperation of an Upper-body Humanoid with Modified Task Jacobians and Relaxed Barrier Functions for Self-Collision Avoidance](https://mlsanity.com/paper/2411.07534/) (2024)
- [BeyondRetarget: Learning Executable Humanoid Motions Directly from Monocular Video](https://mlsanity.com/paper/2609.29850/) (2026)
- [From Video to Vision: Learning Generalizable Humanoid Carrying from Human Motion](https://mlsanity.com/paper/2610.14561/) (2026)

## Abstract (arXiv)

Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid robots using a novel approach for motion retargeting through inverse kinematics over the robot model. The proposed method enhances scalability for retargeting, i.e., it allows teleoperating different robots by different human users with minimal changes to the proposed system. Our framework enables an intuitive and natural interaction between the human operator and the humanoid robot at the configuration space level. We validate our approach by demonstrating whole-body retargeting with multiple robot models. Furthermore, we present experimental validation through teleoperation experiments using two state-of-the-art whole-body controllers for humanoid robots.