05Layer

Human2Robot Retargeting

5 end effectors

Human demonstrations converted into robot-executable trajectories, physics-replayed before delivery.

Wrist mapping, inverse kinematics and contact-preserving optimization convert human demonstrations into robot-executable trajectories for Shadow, Inspire, Allegro, a parallel two-finger gripper and suction.

Every retargeted trajectory is replayed in Isaac Sim or MuJoCo before delivery. Physically infeasible sequences are rejected, not shipped.

For other embodiments, send a URDF and we generate a custom retarget from the source MANO parameters — the five published end effectors are reference implementations, not a limit.

SPECIFICATION
End effectors
Shadow · Inspire · Allegro · Parallel-2F · Suction
Validation
Physics replay before delivery
Custom targets
From URDF, on request
Export
UMI · LeRobot · RDT · OXE

Available on MOVAS-Ego 100K. Coverage per scene family is published on each family page and on the data card.

FAQ

Human2Robot Retargeting — Common Questions

Send a URDF. We generate a custom retarget from the source MANO parameters. The five published end effectors are reference implementations rather than a constraint.

They are not discarded. The outcome and reason are written to the Feasibility Record, which is delivered alongside the trajectories that passed.

Your models need the physical world.

Request a Subset

Data moves robots. MOVAS moves data.