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About this paper
Daniel Marew, Sangjun Park, Nisal Perera, Donghyun Kim
FRDV adapts captured human motion to a robot’s body and joints, using constrained kinematic optimization to enforce joint limits and geometric clearances. On 77 LAFAN1 sequences for the Unitree G1, 20-worker processing averaged 9,156 frames per second, versus ProtoMotions’ 67.3. The timing excludes optional dynamics validation; downstream tracking errors were lower on average, but success varied by motion.
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