# ExtremControl: 50ms humanoid robot teleoperation with scaled velocity feedforward

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/xajuid1fedclmgh991gavw5dq
- Original: https://arxiv.org/abs/2602.11321

## Summary

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.