Humans are particularly sensitive to footplants, as we expect them to stay put, and not "skate". Unfortunately, retargeted and edited motion can often violate this property of the initial motion capture. Footskate Cleanup describes a method for recovering good footplants at the expense of perfectly rigid skeletons.

Key ideas: Allowing bone lengths to change by a small amount is reasonable since: footskate cleanup is run as a post-process, maintaining both decent footplants and rigidity constraints is hard, and meshes will hide resulting discrepancies.

Contributions: Previous methods only allowed joint-rotation changes when trying to precisely plant a foot. Their methods allows bone length to change slightly when it would have otherwise required sharp adjustments to join rotations. They show that this can be a reasonable compromise.