Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control

Qingrui Zhao^*, Yiheng Li^*, Xiyu Wang, Shiqi Zhao, Yi Lu, Xinfang Zhang, Qiu Shen, Xiao-Xiao Long, Xun Cao

* Equal contribution.

arXiv preprint arXiv:2603.22201 · 2026

Abstract

NMR learns to retarget human motion for humanoid robots using physics-refined training data and a CNN-Transformer model. Experiments on the Unitree G1 assess motion continuity, self-collision reduction, and downstream control-policy training.