ReActor: Reinforcement Learning for Physics-Aware Motion Retargeting

ArXi:2605.06593v1 Announce Type: cross Retargeting human kinematic reference motion onto a robot's morphology remains a formidable challenge. Existing methods often produce physical inconsistencies, such as foot sliding, self-collisions, or dynamically infeasible motions, which hinder downstream imitation learning. We propose a bilevel optimization framework that jointly adapts reference motions to a robot's morphology while