CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
Journal:
arXiv
Published Date:
Jun 10, 2025
Abstract
Humanoid teleoperation plays a vital role in demonstrating and collecting
data for complex humanoid-scene interactions. However, current teleoperation
systems face critical limitations: they decouple upper- and lower-body control
to maintain stability, restricting natural coordination, and operate open-loop
without real-time position feedback, leading to accumulated drift. The
fundamental challenge is achieving precise, coordinated whole-body
teleoperation over extended durations while maintaining accurate global
positioning. Here we show that an MoE-based teleoperation system, CLONE, with
closed-loop error correction enables unprecedented whole-body teleoperation
fidelity, maintaining minimal positional drift over long-range trajectories
using only head and hand tracking from an MR headset. Unlike previous methods
that either sacrifice coordination for stability or suffer from unbounded
drift, CLONE learns diverse motion skills while preventing tracking error
accumulation through real-time feedback, enabling complex coordinated movements
such as ``picking up objects from the ground.'' These results establish a new
milestone for whole-body humanoid teleoperation for long-horizon humanoid-scene
interaction tasks.
