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HuMiT: Low-Latency Whole-Body Humanoid Teleoperation via Compact Reference Tracking

HuMiT is a whole-body humanoid teleoperation system whose unified tracking policy requires only a compact reference target—root height, root velocity, and the SE(3) poses of four sparse keypoints at the current frame—yet achieves tracking accuracy comparable to methods that rely on full joint positions, dense body-part transformations, and even future frames.

Part of the event: HuMiT: A Low-Latency Humanoid Whole-Body Teleoperation System

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