Morphology-Aware Human Motion Retargeting for Wheeled-Humanoid Loco-Manipulation

• URL: http://arxiv.org/abs/2609.11357v1
• Date: Thu, 10 Sep 2026 10:40:31 GMT
• Title: Morphology-Aware Human Motion Retargeting for Wheeled-Humanoid Loco-Manipulation
• Abstract summary: We present a pipeline that converts multi-dataset motion into executable loco-manipulation behavior for the Galaxea R1 wheeled humanoid.<n>The robot has a planar three-wheel base, a serial torso, and two arms but no leg joints.<n>A reference-twist-driven planning layer then decodes planar base motion into continuous three-wheel steering and rolling commands.
• Score: 3.1041072702135213
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Human-to-humanoid retargeting has largely been studied on legged platforms, while comparatively few wheeled-humanoid systems support coupled locomotion and manipulation from general human motion. Building on GMR's configurable general-motion retargeting and BeyondMimic's physically simulated R1 Pro learning framework, we present a reproducible pipeline that converts multi-dataset SMPLX motion into executable loco-manipulation behavior for the Galaxea R1 Pro wheeled humanoid. The robot has a planar three-wheel base, a serial torso, and two arms but no leg joints, so human lower-body motion must be redistributed across base motion and torso posture without sacrificing manipulation-relevant arm geometry. Our pipeline combines canonical body-shape preprocessing, planar-base normalization, morphology-aware differential inverse kinematics, shoulder-rooted hierarchical arm retargeting, and continuous torso substitution for bending and squatting. A reference-twist-driven planning layer then decodes planar base motion into continuous three-wheel steering and rolling commands subject to hysteresis, kinematic continuity, acceleration, and actuator-rate limits. Finally, a 21-dimensional BaseDecode policy is trained in Isaac Lab with directional joint-limit scaling, focused upper-body tracking, and a staged wheel-contact reward. The resulting system provides a complete bridge from human motion data to physically trackable wheeled-humanoid loco-manipulation rather than a visualization-only retargeter; quantitative policy comparisons remain scheduled for a later revision.

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