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About this paper
Liu Cao, Botian Xu, Ruoqu Chen, Jiajun Liu, Mingzhi Pei, Zihao Wang, Zhongyu Li, Mengdi Xu
HuMiT enables humanoid teleoperation from sparse, current-frame cues and robot feedback, without a dense future-looking plan. It scales human keypoints to the robot and gives root height, velocities, and four wrist-and-ankle targets to a whole-body policy. Median measured latency was 65 ms. It caught a ball in 2 of 10 trials; on LAFAN1, success was 52.5%, versus 62.5% for full-reference HuMiT-Full.
Summary by alphaXiv.
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