Ji-Yu Yu

Beyond Retargeting: Low-Latency and Robust Humanoid Whole-Body Teleoperation with Learned Atomic Motion Primitives

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 pa...