Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation

arXiv:2609.18763 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Code: https://github.com/NVIDIA/soma-retargeter

Terminology

• Calibration — 13× in this paper · explained in 7 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Alignment — 5× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• General Motion Tracking — 3× in this paper
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Alternation — 2× in this paper · explained in 1 episode
• Less Is More for Motion Tracking — 2× in this paper
• Redundancy — 2× in this paper · explained in 2 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Actor — 1× in this paper · explained in 3 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes

Sources

• Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
• LIMMT: Less is More for Motion Tracking
• Residual Policy Learning
• Residual Reinforcement Learning for Robot Control
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• Make Tracking Easy: Neural Motion Retargeting for Humanoid Whole-body Control
• ExBody2: Advanced Expressive Humanoid Whole-Body Control
• GMT: General Motion Tracking for Humanoid Whole-Body Control
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System
• HumDex: Humanoid Dexterous Manipulation Made Easy
• WristMimic: Full-Body Humanoid Control with Wrist-Guided Manipulation
• SEEC: Stable End-Effector Control with Model-Enhanced Residual Learning for Humanoid Loco-Manipulation
• MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimation
• CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation

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