Well, to be honest, there were only 3 human characters, and two of those were barely cameos. There was the lady and her potential beau, voiced by the Pixar perennial John Ratzenberger, who were "awakened" from their hover-stupor to view the world with wonder and the promise of love. That was their entire arc, admittedly weak. But they were the most minor of minor characters.
The other human, the Captain, I thought had a rather decent character arc, no less thoroughly predictable than the more fully realized arc of Eve.
Did Wall-E even have any kind of character arc? I don't think so. He was likeable ... but besides falling in love, was he any different at the end of the movie than at its start?
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