WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations

Abstract: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 imprecise or inconsistent solutions, causing action multi-modality that prevents supervised policies from reliably converging. We present Whole-body-Aware Retargeting from human Pose (WARP), an offline pipeline that explicitly models embodiment differences to extract precise, unique whole-body actions. WARP leverages a closed-form Shoulder-Elbow-Wrist (SEW) geometric solver for exact end-effector tracking while preserving whole-body structural intent. Paired with lazy mobile-base control, it extracts accurate, consistent robot trajectories. Evaluations show WARP provides highly reliable data for open-loop real-world replay. To our knowledge, WARP is the first framework to achieve zero-shot whole-body mobile manipulation directly from offline human demonstrations, eliminating the need for human-in-the-loop teleoperation action data. More details on this https URL

Robotics (cs.RO)

arXiv:2606.29940 [cs.RO]

(or arXiv:2606.29940v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.29940 Focus to learn more arXiv-issued DOI via DataCite

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