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OTRetarget 提出一种统一方法，利用熵最优传输联合重定向机器人与多物体的运动，通过保持接触一致性显著优于 OmniRetarget，并在物理人形机器人 G1 上验证了迁移到强化学习训练的全身策略的可行性。
TERRA is an end-to-end pipeline for terrain-aware reconstruction, retargeting, and control of musculoskeletal locomotion, enabling a single muscle-actuated RL policy trained on 9.4 hours of motion data to traverse diverse non-flat terrain with fewer anatomical and interaction violations.