TWIST: Teleoperated Whole-Body Imitation System

• URL: http://arxiv.org/abs/2505.02833v1
• Date: Mon, 05 May 2025 17:59:03 GMT
• Title: TWIST: Teleoperated Whole-Body Imitation System
• Authors: Yanjie Ze, Zixuan Chen, João Pedro Araújo, Zi-ang Cao, Xue Bin Peng, Jiajun Wu, C. Karen Liu,
• Abstract summary: We present the Teleoperated Whole-Body Imitation System (TWIST), a system for humanoid teleoperation through whole-body motion imitation.<n>We develop a robust, adaptive, and responsive whole-body controller using a combination of reinforcement learning and behavior cloning.<n>TWIST enables real-world humanoid robots to achieve unprecedented, versatile, and coordinated whole-body motor skills.
• Score: 28.597388162969057
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Teleoperating humanoid robots in a whole-body manner marks a fundamental step toward developing general-purpose robotic intelligence, with human motion providing an ideal interface for controlling all degrees of freedom. Yet, most current humanoid teleoperation systems fall short of enabling coordinated whole-body behavior, typically limiting themselves to isolated locomotion or manipulation tasks. We present the Teleoperated Whole-Body Imitation System (TWIST), a system for humanoid teleoperation through whole-body motion imitation. We first generate reference motion clips by retargeting human motion capture data to the humanoid robot. We then develop a robust, adaptive, and responsive whole-body controller using a combination of reinforcement learning and behavior cloning (RL+BC). Through systematic analysis, we demonstrate how incorporating privileged future motion frames and real-world motion capture (MoCap) data improves tracking accuracy. TWIST enables real-world humanoid robots to achieve unprecedented, versatile, and coordinated whole-body motor skills--spanning whole-body manipulation, legged manipulation, locomotion, and expressive movement--using a single unified neural network controller. Our project website: https://humanoid-teleop.github.io

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