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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2602.11321 |
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| _version_ | 1866915896068407296 |
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| author | Xiong, Ziyan Fang, Lixing Huang, Junyun Yamazaki, Kashu Zhang, Hao Gan, Chuang |
| author_facet | Xiong, Ziyan Fang, Lixing Huang, Junyun Yamazaki, Kashu Zhang, Hao Gan, Chuang |
| contents | Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only PD control, resulting in substantial latency that severely limits responsiveness and prevents tasks requiring rapid feedback and fast reactions. To address this problem, we propose ExtremControl, a low latency whole-body control framework that: (1) operates directly on SE(3) poses of selected rigid links, primarily humanoid extremities, to avoid full-body retargeting; (2) utilizes a Cartesian-space mapping to directly convert human motion to humanoid link targets; and (3) incorporates velocity feedforward control at low level to support highly responsive behavior under rapidly changing control interfaces. We further provide a unified theoretical formulation of ExtremControl and systematically validate its effectiveness through experiments in both simulation and real-world environments. Building on ExtremControl, we implement a low-latency humanoid teleoperation system that supports both optical motion capture and VR-based motion tracking, achieving end-to-end latency as low as 50ms and enabling highly responsive behaviors such as ping-pong ball balancing, juggling, and real-time return, thereby substantially surpassing the 200ms latency limit observed in prior work. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_11321 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control Xiong, Ziyan Fang, Lixing Huang, Junyun Yamazaki, Kashu Zhang, Hao Gan, Chuang Robotics Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only PD control, resulting in substantial latency that severely limits responsiveness and prevents tasks requiring rapid feedback and fast reactions. To address this problem, we propose ExtremControl, a low latency whole-body control framework that: (1) operates directly on SE(3) poses of selected rigid links, primarily humanoid extremities, to avoid full-body retargeting; (2) utilizes a Cartesian-space mapping to directly convert human motion to humanoid link targets; and (3) incorporates velocity feedforward control at low level to support highly responsive behavior under rapidly changing control interfaces. We further provide a unified theoretical formulation of ExtremControl and systematically validate its effectiveness through experiments in both simulation and real-world environments. Building on ExtremControl, we implement a low-latency humanoid teleoperation system that supports both optical motion capture and VR-based motion tracking, achieving end-to-end latency as low as 50ms and enabling highly responsive behaviors such as ping-pong ball balancing, juggling, and real-time return, thereby substantially surpassing the 200ms latency limit observed in prior work. |
| title | ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.11321 |