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[Submitted on 8 Oct 2026] Title:PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting View a PDF of the paper titled PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting, by Nicholas Ioannidis and 6 other authors View PDF HTML (experimental) 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. Subjects: Robotics (cs.RO); Graphics (cs.GR) Cite as: arXiv:2610.12642 [cs.RO] (or arXiv:2610.12642v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.12642 arXiv-issued DOI via DataCite (pending registration) Submission history From: Nicholas Ioannidis [view email] [v1] Thu, 8 Oct 2026 19:03:01 UTC (6,765 KB) Full-text links: Access Paper: View a PDF of the paper titled PriMoRetarget: Humanoid Motion Transfer Through Prioritized Motion Retargeting, by Nicholas Ioannidis and 6 other authors View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs cs.GR References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)