ResearchBenchmarksHuman-to-Humanoid Motion Retargeting on Unitree G1 (Medium sequences)Human-to-Humanoid Motion Retargeting on Unitree G1 (Medium sequences)Follow41Success RatePHUMA39.9640.2340.540.77Mar 23, 2026Evaluation resultsMethodMethodLinksSuccess RateMPJPEW-MPJPEPHUMA2026.03410.0420.444NMR2026.03410.0350.308GMR2026.03400.0460.45