# DOC: Differentiable Optimal Control for Retargeting Motions onto Legged Robots

> Research article (ACM Transactions on Graphics, 2023) · cited 18× · AI/ML

**Wikidata**: [openalex:W4385275600](https://www.wikidata.org/wiki/openalex:W4385275600)  
**Source**: https://4ort.xyz/entity/doc-differentiable-optimal-control-for-retargeting-motions-onto-legged-robots