MATE: Multi-Agent Virtual Teleoperation Platform for Humanoid Collaboration Data Collection

arXiv:2609.26520 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Project page: https://yerik-yu.github.io/MATE

Terminology

• Diffusion Policy — 5× in this paper
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Sim-to-Real Transfer — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Zero-Shot Transfer — 3× in this paper · explained in 4 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Action Chunking — 1× in this paper · explained in 1 episode
• 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
• Diffusion Policy (DP) — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Multi-agent Collaboration — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Transferability — 1× in this paper · explained in 4 episodes

Sources

• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• RoCo: Dialectic Multi-Robot Collaboration with Large Language Models
• HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
• Open-TeleVision: Teleoperation with Immersive Active Visual Feedback
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
• CHORUS: Decentralized Multi-Embodiment Collaboration with One VLA Policy
• HumanPlus: Humanoid Shadowing and Imitation from Humans
• CooHOI: Learning Cooperative Human-Object Interaction with Manipulated Object Dynamics
• NVIDIA Isaac Sim: Enabling Scalable, GPU-Accelerated Simulation for Robotics
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
• VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation
• Multi-Agent Actor-Critic for Mixed Cooperative-Competitive Environments
• BPP: Long-Context Robot Imitation Learning by Focusing on Key History Frames
• R2BC: Multi-Agent Imitation Learning from Single-Agent Demonstrations
• Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations
• RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation
• CollaBot: Vision-Language Guided Simultaneous Collaborative Manipulation

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