ResearchBenchmarksHuman-to-Humanoid Motion Retargeting on Unitree G1 (Short sequences)Human-to-Humanoid Motion Retargeting on Unitree G1 (Short sequences)Follow31Success RateNMR24.7626.382829.62Mar 23, 2026Evaluation resultsMethodMethodLinksSuccess RateMPJPEW-MPJPENMR2026.03310.040.237PHUMA2026.03260.0580.66GMR2026.03250.0480.244