BeyondRetarget: Human Video → Robot Motion Retargeting

Upload a short RGB video of a person moving and generate synchronized motion for 8 humanoid robots.

Supported robots: Unitree G1, Unitree R1, Fourier GR1T1, Fourier GR2, Unitree H1, Boston Dynamics Atlas v4, T1 Serial, and Tienkung.

Output: a rendered eight-robot animation and downloadable NPZ motion files.

Demo Version Notice

The interactive demo and the videos shown on this page use BeyondRetarget Lite, a lightweight version designed primarily for the real-time requirements of teleoperation. The current Lite version is not yet intended for scenarios involving significant camera motion or large-scale global human trajectory changes.

A more general and higher-performance version will be open-sourced in the future, with support for moving-camera inputs and stronger global trajectory capture capabilities.

Usage notes

• Use a single-person, full-body video no longer than 10 seconds.
• Keep the arms and legs visible and avoid abrupt camera movement.
• ZeroGPU is shared infrastructure, so a queue may appear before inference begins.
• The GPU is released before MuJoCo rendering to conserve community GPU quota.