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simmediumroboticsmetric · varies
MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics
Description
Real-time humanoid teleoperation requires inverse kinematics (IK) solvers that are both responsive and constraint-safe under kinematic redundancy and self-collision constraints. While differential IK enables efficient online retargeting, its locally linearized updates are inherently basin-dependent and often become trapped near joint limits, singularities, or active collision boundaries, leading to unsafe or stagnant behavior. We propose a GPU-parallelized, continuation-based differential IK tha