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frax.ik: Microsecond Humanoid Retargeting on CPU

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Stanford ASL's frax.ik performs humanoid motion retargeting and inverse kinematics on CPU in microseconds while avoiding foot skidding, floor penetration, and self-collisions.

HumanoidInverse KinematicsMotion retargetingCPUJAXTeleoperationMotion DatasetsRobot LearningStanford ASL
Category: humanoid
Author: @drmapavone
Date: 2026-11-05T00:00:00
Duration: 34.766s
Source: https://x.com/drmapavone/status/2118198521677615552
Reference: https://github.com/StanfordASL/frax

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