Event
HuMiT: A Low-Latency Humanoid Whole-Body Teleoperation System
1 reports · 1 sources
Liu Cao and other researchers propose HuMiT, a whole-body teleoperation system for humanoid robots. Its unified tracking policy requires only compact reference targets—root height, root velocity, and the SE(3) poses of four sparse keypoints in the current frame—and the researchers state that it can achieve tracking accuracy comparable to methods that rely on full joint positions, dense part transforms, or even future frames. The system was validated on the Unitree G1 humanoid robot. The researchers measured a communication-to-inference latency of about 20 ms from streaming the head-mounted display to the policy output, and a median latency of 65 ms based on video optical flow.
Report timeline
- 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.
arXiv cs.RO ·