{"id":"https://openalex.org/W7166699781","doi":"https://doi.org/10.48550/arxiv.2606.29940","title":"WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations","display_name":"WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations","publication_year":2026,"publication_date":"2026-06-29","ids":{"openalex":"https://openalex.org/W7166699781","doi":"https://doi.org/10.48550/arxiv.2606.29940"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.29940","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29940","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.29940","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139670744","display_name":"Zhenyang Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zhenyang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124941914","display_name":"Chuizheng Kong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kong, Chuizheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031253217","display_name":"Chuye Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Chuye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109519931","display_name":"Y. X. Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yuanshao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112910666","display_name":"L. Zhu","orcid":"https://orcid.org/0009-0002-5360-3510"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Lawrence Y.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019247599","display_name":"Shreyas Kousik","orcid":"https://orcid.org/0000-0003-1348-7463"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kousik, Shreyas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5019421104","display_name":"D Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Danfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5437999963760376,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5437999963760376,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.12759999930858612,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.048900000751018524,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.9616000056266785},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6639999747276306},{"id":"https://openalex.org/keywords/seam-carving","display_name":"Seam carving","score":0.6322000026702881},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5990999937057495},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5645999908447266},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4526999890804291},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4381999969482422},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41909998655319214},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.4185999929904938}],"concepts":[{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.9616000056266785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7384999990463257},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6639999747276306},{"id":"https://openalex.org/C23746413","wikidata":"https://www.wikidata.org/wiki/Q1141379","display_name":"Seam carving","level":3,"score":0.6322000026702881},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.620199978351593},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5990999937057495},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5645999908447266},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.519599974155426},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4526999890804291},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44209998846054077},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4381999969482422},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41909998655319214},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.4185999929904938},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40540000796318054},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.37070000171661377},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C2780102126","wikidata":"https://www.wikidata.org/wiki/Q10928179","display_name":"Online and offline","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.2955999970436096},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.29190000891685486},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2838999927043915},{"id":"https://openalex.org/C124913957","wikidata":"https://www.wikidata.org/wiki/Q1232548","display_name":"Zoom","level":3,"score":0.2630000114440918},{"id":"https://openalex.org/C2781020372","wikidata":"https://www.wikidata.org/wiki/Q533093","display_name":"On the fly","level":2,"score":0.2623000144958496},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.25619998574256897},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.2549999952316284}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.29940","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29940","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.29940","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.29940","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Direct":[0],"transfer":[1],"from":[2,47,54,126],"human":[3,19,55,128],"demonstration":[4],"to":[5,66,119],"learnable":[6],"robot":[7,98],"action":[8,41,136],"is":[9,115],"a":[10,74],"crucial":[11],"step":[12],"towards":[13],"scalable":[14],"whole-body":[15,70,86,122],"mobile":[16,24,123],"manipulation.":[17],"While":[18],"data":[20,106],"scales":[21],"better":[22],"than":[23],"teleoperation,":[25],"it":[26,94],"requires":[27],"overcoming":[28],"significant":[29],"embodiment":[30,64],"gaps.":[31],"Existing":[32],"retargeting":[33],"methods":[34],"yield":[35],"imprecise":[36],"or":[37],"inconsistent":[38],"solutions,":[39],"causing":[40],"multi-modality":[42],"that":[43,61],"prevents":[44],"supervised":[45],"policies":[46],"reliably":[48],"converging.":[49],"We":[50],"present":[51],"Whole-body-Aware":[52],"Retargeting":[53],"Pose":[56],"(WARP),":[57],"an":[58],"offline":[59,127],"pipeline":[60],"explicitly":[62],"models":[63],"differences":[65],"extract":[67],"precise,":[68],"unique":[69],"actions.":[71],"WARP":[72,102,114],"leverages":[73],"closed-form":[75],"Shoulder-Elbow-Wrist":[76],"(SEW)":[77],"geometric":[78],"solver":[79],"for":[80,107,133],"exact":[81],"end-effector":[82],"tracking":[83],"while":[84],"preserving":[85],"structural":[87],"intent.":[88],"Paired":[89],"with":[90],"lazy":[91],"mobile-base":[92],"control,":[93],"extracts":[95],"accurate,":[96],"consistent":[97],"trajectories.":[99],"Evaluations":[100],"show":[101],"provides":[103],"highly":[104],"reliable":[105],"open-loop":[108],"real-world":[109],"replay.":[110],"To":[111],"our":[112],"knowledge,":[113],"the":[116,131],"first":[117],"framework":[118],"achieve":[120],"zero-shot":[121],"manipulation":[124],"directly":[125],"demonstrations,":[129],"eliminating":[130],"need":[132],"human-in-the-loop":[134],"teleoperation":[135],"data.":[137],"More":[138],"details":[139],"on":[140],"https://warp-retarget.github.io/":[141]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-01T00:00:00"}
