From Legs to Wheels: Embodiment-Aware Human Motion Retargeting for Mobile-Base Humanoids

cs.RO

Submitted: 2026-10-06

Updated: 2026-10-06

Comments: 8 pages, 4 figures

Code: https://github.com/kevinzakka/mink

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Sources

• HumanPlus: Humanoid Shadowing and Imitation from Humans
• WHAM: Reconstructing World-grounded Humans with Accurate 3D Motion
• TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videos
• World-Grounded Human Motion Recovery via Gravity-View Coordinates
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• Perpetual Humanoid Control for Real-time Simulated Avatars
• Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
• WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations

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