ResearchBenchmarksHuman-to-Humanoid Motion Retargeting on Unitree G1 (Long sequences)Human-to-Humanoid Motion Retargeting on Unitree G1 (Long sequences)Follow10Success RateNMR8.969.239.59.77Mar 23, 2026Evaluation resultsMethodMethodLinksSuccess RateMPJPEW-MPJPENMR2026.03100.040.291PHUMA2026.0390.04290.46GMR2026.0390.0430.319