ResearchBenchmarksMotion Retargeting on SMPL Trajectories One-foot BalanceFollow2.86Infeasible Segment PercentageIDR1.83928.729615.6222.5104May 22, 2026Evaluation ResultsMethodMethodLinksInfeasible Segment PercentageIDRDynamics simulator=Pin...Dynamics simulator=Pinocchio, Feasibility check solver=ProxQP, seeds=52026.052.86DDRDynamics simulator=Pin...Dynamics simulator=Pinocchio, Feasibility check solver=ProxQP, seeds=52026.053.36GRDynamics simulator=Pin...Dynamics simulator=Pinocchio, Feasibility check solver=ProxQP2026.0528.38