Human
Operator
Kinematic
EncodingJoint angles, velocities (∇), and accelerations (∇²) combined for all humanoid joints
Hierarchical Spatial
Graph ConvolutionJoints exchange features along the skeleton — within each limb, then between limbs and torso
Temporal
AggregationMulti-scale temporal convolutions (dilations 1–4) aggregate frames into one motion signature
Attribute
Prediction
Joint
Features
Spatially
Aggregated
Features
Human to Humanoid
Retargeting
Operator
Gender—
Age —
Height—
Weight—
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