ExtremControl: Low-Latency Humanoid Teleoperation with Scaled Velocity Feedforw
Overview
This research proposes ExtremControl, a low-latency whole-body control framework for humanoid robots that reduces tracking delay by approximately 70ms through scaled velocity feedforward. The system achieves end-to-end latency as low as 50ms, enabling new reactive behaviors like ping-pong ball balancing and juggling.
From arXiv Robotics — research abstracts
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · end-to-end latency: 50 other · Basis not reported · Differing source assertions
“or locomotion setting through experiments in both simulation and the real world. Building on ExtremControl, we implement a teleoperation system supporting both optical motion capture and VR-based tracking, achieving end-to-end latency as low as 50ms --- well beneath the threshold at which system delay adds a full human reaction cycle to the control loop. This enables a qualitatively new class of reactive behaviors, i”
Exact source · revision 1Source owner not reported
Reported quantity · end-to-end latency: 200 other · Basis not reported · Differing source assertions
“arXiv:2602.11321v4 Announce Type: replace Abstract: Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, end-to-end latencies in existing approaches consistently hover around 200ms, roughly equal to human reaction time, that severely limits responsiveness and prevents tasks requiring rapid feedback. We identify position-only PD control”
Exact source · revision 1Source owner not reported
Reported quantity · tracking delay reduction: 70 other · Basis not reported
“as the root cause of this latency floor and propose ExtremControl, a low-latency whole-body control framework that: (1) incorporates scaled velocity feedforward in low-level control, reducing tracking delay by approximately 70ms with a provably optimal feedforward ratio; (2) operates directly on SE(3) poses of selected rigid links, primarily humanoid extremities, to avoid joint-space retargeting in the control loop.”
Exact source · revision 1Source owner not reported
Reported quantity · human reaction time: 200 other · Basis not reported
“arXiv:2602.11321v4 Announce Type: replace Abstract: Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, end-to-end latencies in existing approaches consistently hover around 200ms, roughly equal to human reaction time, that severely limits responsiveness and prevents tasks requiring rapid feedback. We identify position-only PD control”
Exact source · revision 1Source owner not reported
Reported quantity · teleoperation system latency: 50 other · Basis not reported
“or locomotion setting through experiments in both simulation and the real world. Building on ExtremControl, we implement a teleoperation system supporting both optical motion capture and VR-based tracking, achieving end-to-end latency as low as 50ms --- well beneath the threshold at which system delay adds a full human reaction cycle to the control loop. This enables a qualitatively new class of reactive behaviors, i”
Exact source · revision 1Source owner not reported
Evidence dependency changes (2)
- 2026-10-30T21:34:43.654Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T21:34:22.984Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalExtremControl: Low-Latency Humanoid Teleoperation with Scaled Velocity Feedforward
This research proposes ExtremControl, a low-latency whole-body control framework for humanoid robots that reduces tracking delay by approximately 70ms through scaled velocity feedforward. The system achieves end-to-end latency as low as 50ms, enabling new reactive behaviors like ping-pong ball balancing and juggling.
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