Preprint
Sep 2026
NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation
Whole-body teleoperation requires a humanoid robot to reproduce a human operator's behavior even when their terrains differ. This demands that the robot perceive local terrain and adapt its posture and contacts accordingly, rather than copy the operator's motion frame by frame. However, paired motion data linking the s...
Xiang-Yu Miao, Jun-Song Wu, Ji-Yuan Shi et al.
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