CopyQuad: Quadrupedal Skill Transfer from a Single Side-View Video Without a Depth Model
Video-to-robot pipelines for quadrupedal imitation insert a learned lifting stage, either a monocular depth model or a per-clip 3D reconstruction, to recover the one axis a side-view camera cannot see. We present CopyQuad, which omits that stage and pins the missing axis to the robot's own stance width instead. The setting is side-view footage of sagittally dominated motion, where limb motion is almost entirely in the image plane. A frozen 2D keypoint detector and a fixed analytic retargeting then turn a single uncalibrated clip into a robot reference whose foot targets are reachable by construction, so no per-clip trajectory optimization is needed. One phase-indexed reward structure, who...
| Authors | Mohamad H. Danesh, Raina Hu, Mengxue Xu et al. |
|---|---|
| Primary category | cs.RO |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
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