GAE: General Action Expert for Real-Time Humanoid Teleoperation

arXiv:2609.34233 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-28

Terminology

• Robustness — 20× in this paper · explained in 5 episodes
• Accuracy — 4× in this paper · explained in 1 episode
• Transformer — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• General Action Expert — 3× in this paper
• Physical Constraints — 3× in this paper · explained in 7 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Actor — 2× in this paper · explained in 3 episodes
• Closed-Loop System — 2× in this paper · explained in 4 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Proximal Policy Optimization — 2× in this paper
• Sim-to-Real Gap — 2× in this paper · explained in 6 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Transferability — 2× in this paper · explained in 4 episodes
• Two-stage training — 2× in this paper · explained in 2 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Mean Keypoint Angular Velocity Error — 1× in this paper
• Mean Keypoint Linear Velocity Error — 1× in this paper
• Mean Keypoint Rotation Error — 1× in this paper
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

Sources

• Expressive Whole-Body Control for Humanoid Robots
• GMT: General Motion Tracking for Humanoid Whole-Body Control
• OmniXtreme: Breaking the Generality Barrier in High-Dynamic Humanoid Control
• OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System
• CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation
• ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• TWIST: Teleoperated Whole-Body Imitation System
• Track Any Motions under Any Disturbances
• HumanPlus: Humanoid Shadowing and Imitation from Humans
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics
• ExBody2: Advanced Expressive Humanoid Whole-Body Control
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• Proximal Policy Optimization Algorithms
• Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot Learning

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