Pith Number

pith:LQRIG6QZ

pith:2026:LQRIG6QZ6N64CNENMO3FIHS6L5

not attested not anchored not stored refs pending

Simulating Infant First-Person Sensorimotor Experience via Motion Retargeting from Babies to Humanoids

Dongmin Kim, Francisco M. L\'opez, Hoshinori Kanazawa, Jochen Triesch, Lukas Rustler, Matej Hoffmann, Miles Lenz, Ondrej Fiala, Valentin Marcel, Yakov Balashov, Yasuo Kuniyoshi

A framework extracts 3D infant body poses from single videos and retargets the motions onto humanoid embodiments to produce simulated multimodal sensor streams.

arxiv:2604.27583 v2 · 2026-04-30 · q-bio.NC · cs.RO

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\usepackage{pith}
\pithnumber{LQRIG6QZ6N64CNENMO3FIHS6L5}

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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

From a single video, our method reconstructs the infant's body configuration by extracting its skeletal structure and estimating the full 3D pose from each frame. Then we map the reconstructed motion onto several developmental platforms: the physical iCub robot and the virtual simulators pyCub, EMFANT and MIMo. ... For the best-matching embodiment, the retargeting achieves sub-centimeter accuracy and enables a rich multimodal analysis of infant development.

C2weakest assumption

That retargeting adult-proportioned humanoid bodies and sensors onto infant-scale motions produces sensor streams that meaningfully approximate the infant's actual proprioceptive, tactile, and visual experience despite large differences in body size, joint limits, and sensor placement.

C3one line summary

A video-based motion retargeting pipeline maps infant movements onto humanoid platforms to produce simulated multimodal sensorimotor data for developmental analysis.

Cited by

1 paper in Pith

Embodiment Shapes Rolling Behavior in a Multimodal Infant Model

Receipt and verification

First computed	2026-06-19T16:09:58.710147Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5c22837a19f37dc1348d63b6541e5e5f55a3730c42c6fdc2939c0c99e13cade3

Aliases

arxiv: 2604.27583 · arxiv_version: 2604.27583v2 · doi: 10.48550/arxiv.2604.27583 · pith_short_12: LQRIG6QZ6N64 · pith_short_16: LQRIG6QZ6N64CNEN · pith_short_8: LQRIG6QZ

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/LQRIG6QZ6N64CNENMO3FIHS6L5 \
  | 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: 5c22837a19f37dc1348d63b6541e5e5f55a3730c42c6fdc2939c0c99e13cade3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "af49c90e7ed6bf89a00e66e7e6c1828b8dc9b4dbd6462805a54628312079475d",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "q-bio.NC",
    "submitted_at": "2026-04-30T08:37:46Z",
    "title_canon_sha256": "15a89f6fb542adef315250a4285bea38727622634fe29be9deceb43b67005c6b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.27583",
    "kind": "arxiv",
    "version": 2
  }
}