Beyond Retargeting: Low-Latency and Robust Humanoid Whole-Body Teleoperation with Learned Atomic Motion Primitives
cs.RO
Submitted: 2026-10-06
Updated: 2026-10-06
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- TWIST: Teleoperated Whole-Body Imitation System
- Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
- Towards Out-Of-Distribution Generalization: A Survey
- Outrageously Large Neural Networks: The Sparsely-Gated Mixture-of-Experts Layer
- Proximal Policy Optimization Algorithms
- HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
- ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control
- Expressive Whole-Body Control for Humanoid Robots
- ExBody2: Advanced Expressive Humanoid Whole-Body Control
- Leveraging Demonstrations with Latent Space Priors
- Categorical Reparameterization with Gumbel-Softmax
- SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
- Track Any Motions under Any Disturbances
- Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
- HY-Motion 1.0: Scaling Flow Matching Models for Text-To-Motion Generation
- TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
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