Kinora: テキストからのモーション生成・ロボットリターゲティング・対話的検証を統合するバージョン管理ワークフロー

原文アブストラクト

Motion generation tools produce candidate trajectories, but interactive robot authoring also requires recoverable execution, traceable edits, explicit geometry, and model-specific validation. We present Kinora, a system that connects text-to-motion generation, a motion library, local agent tools, robot retargeting, and trajectory refinement through versioned artifacts. The current release uses an independently specified 52-joint authoring rig and procedural skeleton previews, separating the distributed human geometry from externally installed generation models and robot assets. Human-motion edits preserve frames outside a selected interval, while robot edits create immutable candidates whose reports govern acceptance and export. We evaluate server 0.5.1 and Gadget 0.15.2 with 156 core regression test executions, 49 Gadget executions, four CUDA generation/editing cases, a 30-frame G1 retargeting check, and a 3,600-frame synthetic G1 fixture paired with a suspended negative control. All four CUDA cases passed their numerical gates; the turning splice nevertheless retained a 14.3 cm support-foot drift proxy warning. The G1 positive fixture completed bounded simulation replay, whereas the suspended control was quarantined before replay. These results support selected integration and preservation contracts. They do not establish semantic-quality improvements, population-level feasibility, or hardware safety.