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Decoupling motion retargeting into a privileged generator and an anticipatory executor enables physical humanoids to mirror agile, expressive human motions in real time despite severe latency and embodiment mismatches.
Robots fail out-of-distribution because monolithic VLA policies hide task state and recovery logic; treating physical execution as inspectable, debuggable code enables closed-loop failure recovery and continuous self-evolution.
DynaForge combines low-frequency global planning with high-frequency object-centric inverse kinematics across task phases, and applies a residual policy to correct actions during dynamic interaction, showing the ability of DynaForge for sim-to-real transfer.
