SOURCE-LINKED INTELLIGENCE

PRIMO: Prior-Informed Odometry from Human-Motion Tracking for Humanoid Robots

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

Simulation-trained humanoid proprioceptive odometry faces two transfer challenges: training trajectories generated by specific robot control policies intended for deployment cover only a limited range of motions, while sim-to-real mismatch can make unconstrained predictions unreliable. We address both with Prior-Informed Odometry from Human-Motion Tracking (PRIMO). On the data side, we generate odometry supervision by having the humanoid track diverse retargeted human motions in simulation, decoupling supervision from the deployment policies and broadening the training motion distribution. On

Read original source ↗ Open in workspace

recordType

paper

region

Global