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ExtremControl: 50ms humanoid robot teleoperation with scaled velocity feedforward

ExtremControl proposes a low-latency whole-body control framework for humanoid robots that reduces end-to-end teleoperation latency from about 200ms to as low as 50ms. Its core is adding scaled velocity feedforward in low-level control, which cuts tracking delay by about 70ms, and operating directly on the SE(3) poses of selected rigid links to avoid joint-space retargeting; the paper also derives a closed-form Cartesian-space mapping that needs only a single anthropomorphic calibration to adapt to operators of different body proportions.

Part of the event: ExtremControl reduces humanoid teleoperation latency to 50 ms

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