Pith Number

pith:INWGUDQR

pith:2026:INWGUDQRYMH2UEVOORBIH44KKI

not attested not anchored not stored refs pending

DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization

Angela Dai, Dian Yu, Ilyass Taouil, Kun Tao, Majid Khadiv, Shafeef Omar, Victor Dhedin

Sampling-based trajectory optimization refines human motions into dynamically feasible humanoid loco-manipulation sequences.

arxiv:2602.06827 v3 · 2026-02-06 · cs.RO

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\usepackage{pith}
\pithnumber{INWGUDQRYMH2UEVOORBIH44KKI}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

We validate DynaRetarget by successfully retargeting hundreds of humanoid-object demonstrations and achieving higher success rates than the state of the art. The framework also generalizes across varying object properties, such as mass, size, and geometry, using the same tracking objective.

C2weakest assumption

That the sampling-based trajectory optimization can reliably discover dynamically feasible solutions for long-horizon tasks without excessive computation time or getting trapped in infeasible regions for complex object interactions.

C3one line summary

DynaRetarget refines human kinematic motions into dynamically feasible humanoid trajectories using incremental sampling-based trajectory optimization, achieving higher success rates than prior methods on diverse object interaction tasks.

Receipt and verification

First computed	2026-06-11T01:10:32.775070Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

436c6a0e11c30faa12ae744283f38a520a0bf409ece3682377ae28e24f8623ff

Aliases

arxiv: 2602.06827 · arxiv_version: 2602.06827v3 · doi: 10.48550/arxiv.2602.06827 · pith_short_12: INWGUDQRYMH2 · pith_short_16: INWGUDQRYMH2UEVO · pith_short_8: INWGUDQR

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/INWGUDQRYMH2UEVOORBIH44KKI \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 436c6a0e11c30faa12ae744283f38a520a0bf409ece3682377ae28e24f8623ff

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2cbf15fbff7a8fae8010bd66bd082f368badc26dc7a647a7c92a70bf9be449ec",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-02-06T16:14:27Z",
    "title_canon_sha256": "c9aee8bbb76102714b7a8bd8e088a62f94afc2eff7b07614b9637381d3d841d5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2602.06827",
    "kind": "arxiv",
    "version": 3
  }
}