arxivcs.RO2026-06-29
WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations
Zhenyang Chen, Chuizheng Kong, Chuye Zhang, Yuanshao Yang, Lawrence Y. Zhu, Shreyas Kousik, et al.
Direct transfer from human demonstration to learnable robot action is a crucial step towards scalable whole-body mobile manipulation. While human data scales better than mobile teleoperation, it requires overcoming significant embodiment gaps. Existing retargeting methods yield i…