Preprint Open access
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. 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 m …