# PriMoRetarget：通过优先级运动重定向实现人形机器人运动迁移

> 原文链接：https://robotics.hellobike.com/papers/2026-10-08-2610-12642
> 频道：papers | 更新日期：2026-10-08 | 标签：arxiv, cs.RO
> 核心摘要：提出PriMoRetarget，以显式优先级层次替代权重调节，并在四类运动交互数据上验证重定向效果。

# PriMoRetarget：通过优先级运动重定向实现人形机器人运动迁移

::: v-pre
> 原文链接：[PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting](https://arxiv.org/abs/2610.12642)（arXiv 2610.12642 · 发布日期：2026-10-08）

**PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting**

提出PriMoRetarget，以显式优先级层次替代权重调节，并在四类运动交互数据上验证重定向效果。

## 核心要点

- 多角色与物体交互会引入额外接触和空间关系，传统重定向难以稳定保留。
- 方法将多目标权重优化改为优先级层次，低优先级更新需保持高优先级目标。
- 脚部落点和交互接触等关键特征可优先于较低优先级的姿态目标。
- 在四个数据集上评估，生成运动更好保留任务相关交互，参考轨迹更易可靠跟踪。

**验证范围与局限**：验证范围为四个数据集，涵盖单角色运动、角色-物体操作和角色-角色交互。

## 英文摘要 (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.

作者：Nicholas Ioannidis, Dun Yang, Max Smith, Tue Vu, Ziyu Zhang, Shayegan Omidshafiei, Xue Bin Peng
:::

## 原始参考来源 (Sources)

- [arXiv 2610.12642：PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting](https://arxiv.org/abs/2610.12642)