NEXUS: Perceptive Whole-Body Control for Terrain-Adaptive Teleoperation

arXiv:2609.39000 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

Project page: https://nexus-humanoid.github.io

Terminology

• Adaptation — 25× in this paper · explained in 1 episode
• Fidelity — 9× in this paper · explained in 2 episodes
• Generalization — 8× in this paper · explained in 13 episodes
• Adaptability — 6× in this paper · explained in 1 episode
• Conference on Robot Learning — 6× in this paper
• Regularization — 5× in this paper · explained in 3 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Alignment — 4× in this paper · explained in 1 episode
• Hysteresis — 4× in this paper · explained in 3 episodes
• Adaptive Sampling — 3× in this paper · explained in 1 episode
• Foundation Model — 3× in this paper · explained in 3 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Continual Learning — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Zero-Shot Transfer — 1× in this paper · explained in 4 episodes

Sources

• HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum
• MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation
• Teleopit: A Full-Embodiment Humanoid Teleoperation System
• OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System
• Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids
• MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains
• KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Control
• Extreme-RGMT: Continual Learning of Highly Dynamic Skills for Robust Generalist Humanoid Control
• Scaling Behavior Foundation Model for Humanoid Robots
• HoloMotion-1 Technical Report
• Deep Whole-body Parkour
• TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
• Proximal Policy Optimization Algorithms
• mjlab: A Lightweight Framework for GPU-Accelerated Robot Learning
• PHUMA: Physically Reliable Humanoid Locomotion Dataset

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