Event
ExtremControl reduces humanoid teleoperation latency to 50 ms
1 reports · 1 sources
Ziyan Xiong and others proposed the ExtremControl whole-body control framework, reducing end-to-end teleoperation latency for humanoid robots from about 200 ms to as low as 50 ms. The approach adds scaled velocity feedforward to the low-level control, reducing tracking latency by about 70 ms, and operates directly on the SE(3) poses of selected rigid-body links (mainly the humanoid end effectors), avoiding joint-space retargeting. The paper derives a closed-form Cartesian-space mapping that requires only a single anthropometric calibration to adapt to operators of different body sizes. The teleoperation system implemented based on this framework supports both optical motion capture and VR tracking; the authors state that 50 ms is below the threshold at which system latency adds an entire human reaction cycle to the control loop; the effectiveness of the velocity feedforward control was validated in simulation and real-world reinforcement learning locomotion experiments.
Report timeline
- 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.
arXiv cs.RO ·