Beyond Retargeting: Low-Latency and Robust Humanoid Whole-Body Teleoperation with Learned Atomic Motion Primitives
Overview
This paper introduces a retargeting-free policy for humanoid whole-body teleoperation that maps raw human motion directly to robot joint commands in a single forward pass, eliminating online kinematic adaptation. To improve robustness, the authors learn a codebook of full-body motion primitives that projects out-of-distribution observations onto plausible motion prototypes and recovers full-body motion from partial inputs. Experiments conducted on a Unitree G1 in both simulation and hardware environments, utilizing virtual reality, optical mocap, text-to-motion generation, and monocular video inputs, demonstrate that the proposed method outperforms existing baselines in terms of latency and robustness.
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“arXiv:2610.07891v2 Announce Type: replace Abstract: Humanoid whole-body teleoperation translates human motion into stable robot behavior in real time. Existing systems typically rely on online motion retargeting to bridge human--robot morphological differences, but this process adds latency and can produce physically infeasible targets. Meanwhile, diverse, noisy, and partial human-motion observations often fall outsi”
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- arXiv Robotics — research abstractsSignalBeyond Retargeting: Low-Latency and Robust Humanoid Whole-Body Teleoperation with Learned Atomic Motion Primitives
This paper introduces a retargeting-free policy for humanoid whole-body teleoperation that maps raw human motion directly to robot joint commands in a single forward pass, eliminating online kinematic adaptation. To improve robustness, the authors learn a codebook of full-body motion primitives that projects out-of-distribution observations onto plausible motion prototypes and recovers full-body motion from partial inputs. Experiments conducted on a Unitree G1 in both simulation and hardware environments, utilizing virtual reality, optical mocap, text-to-motion generation, and monocular video inputs, demonstrate that the proposed method outperforms existing baselines in terms of latency and robustness.
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