A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation. - Chuizheng Kong; Yunho Cho; Wonsuhk Jung; Idris Wibowo; Parth Shinde; Sundhar Vinodh Sangeetha; Long Kiu Chung; Zhenyang Chen; Andrew Mattei; Advaith Nidumukkala; Alexander Elias; Danfei Xu; et al. (CoRR, 2026)