From Legs to Wheels: Embodiment-Aware Human Motion Retargeting for Mobile-Base Humanoids
Human video offers a scalable source of robot demonstrations, yet most human-to-humanoid retargeting methods assume a legged robot with human-like kinematics.
ProofPaper ↗
Key points
- This assumption does not hold for mobile-base humanoids equipped with a wheeled base, vertical lift, and two arms.
- Human walking must be expressed through base motion, while torso bending may require coordinated lift and arm motion.
- We address this mismatch with a task-conditioned framework that assigns reconstructed human motion to base, lift, and arm responsibilities before robot-specific realization.
- We evaluate the resulting references with human-derived task-space comparisons, policy-free simulation replay, and a qualitative execution on a physical robot.
Sources (1)
- [1]From Legs to Wheels: Embodiment-Aware Human Motion Retargeting for Mobile-Base HumanoidsarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 6, 02:02 PM
Human video offers a scalable source of robot demonstrations, yet most human-to-humanoid retargeting methods assume a legged robot with human-like kinematics.
This assumption does not hold for mobile-base humanoids equipped with a wheeled base, vertical lift, and two arms.
Extractive summary: sentences quoted from the sources.