HuMiT is presented, a whole-body teleoperation system built on a minimal reference target that requires only a minimal reference target, consisting only of root height, root velocity, and sparse keypoint positions at the current frame, yet achieves competitive or superior tracking superiority compared to methods relying on more diverse reference states.
The results indicate a practical trade-off: events can be preferable for fast or poorly lit upper-body teleoperation, whereas well-lit static scenes may favor RGB or hybrid sensing.
Hao-Yu Fu, Zhou Ge, Cheng-Ze Li et al.· arXiv.org· 0 citations
Teleopit, a full-embodiment teleoperation system that maps body, hand, and head signals from VR to a humanoid body, configurable dexterous hands, and a 2-DoF active vision module, is introduced.
Bingqian Wu, Zichen Xu, Xianghui Fan et al.· 2 citations
TeleDexter is introduced, a hand-object co-tracking controller that maps operator intent into learned, low-level contact execution that successfully train autonomous policies via behavioral cloning, marking a concrete step towards human-level dexterous teleoperation.
This work introduces HumanTracker, a preference-aligned metric trained on 12K motion pairs containing 24K motions that better predicts human preferences and reveals contact and stability failures that kinematic metrics often miss.
Dai-En Liu, Ze-Kun Qi, Jia-Yu Zeng et al.· 0 citations
LAC is presented, a general whole-body controller that simultaneously realizes commanded Linear and Angular Compliance for wrenches applied to the upper body and monotonic modulation over the full range of both stiffness commands, and applicability to teleoperated loco-manipulation tasks.
Yang Liu, Zhongkai Gu, Wei Zhu et al.· 2 citations
A hierarchical whole-body tracking framework for the 28-DoF Droid X3 that separates high-level motion learning from transmission compensation is presented and the aggregate action-completion rate is increased across the complete physical trials, an increase of 11 percentage points.
Wen-Cong Gan, Jie-Hui Chen, Qing-Du Li et al.· Biomimetics· 0 citations
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