# Feasibility Retargeting for Multi-contact Teleoperation and Physical Interaction

arXiv: https://arxiv.org/abs/2308.03479 · HTML: https://mlsanity.com/paper/2308.03479/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Aug 2023.

## Built on by (most cited first, 1 of 1)

- [Flow Matching Imitation Learning for Multi-Support Manipulation](https://mlsanity.com/paper/2407.12381/) (2024)

## Abstract (arXiv)

This short paper outlines two recent works on multi-contact teleoperation and the development of the SEIKO (Sequential Equilibrium Inverse Kinematic Optimization) framework. SEIKO adapts commands from the operator in real-time and ensures that the reference configuration sent to the underlying controller is feasible. Additionally, an admittance scheme is used to implement physical interaction, which is then combined with the operator's command and retargeted. SEIKO has been applied in simulations on various robots, including humanoid and quadruped robots designed for loco-manipulation. Furthermore, SEIKO has been tested on real hardware for bimanual heavy object carrying tasks.