WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations
技术动态
来源：arXiv cs.RO发布时间待核实
arXiv:2606.29940v2 Announce Type: replace 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.