# Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control

arXiv: https://arxiv.org/abs/2412.07773 · HTML: https://mlsanity.com/paper/2412.07773/

## Key facts

- Cited by 51 papers in the map (data through 14 Oct 2026).
- Builds on 33 of its 49 references that are in the map.
- First posted on arXiv 10 Dec 2024.

## Builds on (most cited first, 30 of 33)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [RMA: Rapid Motor Adaptation for Legged Robots](https://mlsanity.com/paper/2107.04034/) (2021)
- [HuMoR: 3D Human Motion Model for Robust Pose Estimation](https://mlsanity.com/paper/2105.04668/) (2021)
- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [HumanPlus: Humanoid Shadowing and Imitation from Humans](https://mlsanity.com/paper/2406.10454/) (2024)
- [Character Controllers Using Motion VAEs](https://mlsanity.com/paper/2103.14274/) (2021)
- [Rapid Locomotion via Reinforcement Learning](https://mlsanity.com/paper/2205.02824/) (2022)
- [Extreme Parkour with Legged Robots](https://mlsanity.com/paper/2309.14341/) (2023)
- [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://mlsanity.com/paper/2407.01512/) (2024)
- [Expressive Whole-Body Control for Humanoid Robots](https://mlsanity.com/paper/2402.16796/) (2024)
- [Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior](https://mlsanity.com/paper/2212.03238/) (2022)
- [Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation](https://mlsanity.com/paper/2403.04436/) (2024)
- [Reinforcement Learning for Robust Parameterized Locomotion Control of Bipedal Robots](https://mlsanity.com/paper/2103.14295/) (2021)
- [Universal Humanoid Motion Representations for Physics-Based Control](https://mlsanity.com/paper/2310.04582/) (2023)
- [Synthesizing Physical Character-Scene Interactions](https://mlsanity.com/paper/2302.00883/) (2023)
- [CALM: Conditional Adversarial Latent Models for Directable Virtual Characters](https://mlsanity.com/paper/2305.02195/) (2023)
- [Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning](https://mlsanity.com/paper/2105.08328/) (2021)
- [Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions](https://mlsanity.com/paper/2203.15103/) (2022)
- [Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots](https://mlsanity.com/paper/2111.01674/) (2021)
- [UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers](https://mlsanity.com/paper/2407.10353/) (2024)
- [Visual Whole-Body Control for Legged Loco-Manipulation](https://mlsanity.com/paper/2403.16967/) (2024)
- [WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts](https://mlsanity.com/paper/2406.06005/) (2024)
- [Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation](https://mlsanity.com/paper/2309.01952/) (2023)
- [DribbleBot: Dynamic Legged Manipulation in the Wild](https://mlsanity.com/paper/2304.01159/) (2023)
- [Legs as Manipulator: Pushing Quadrupedal Agility Beyond Locomotion](https://mlsanity.com/paper/2303.11330/) (2023)
- [Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators](https://mlsanity.com/paper/2201.03871/) (2022)
- [Sim-to-Real Learning for Humanoid Box Loco-Manipulation](https://mlsanity.com/paper/2310.03191/) (2023)
- [Whole-body Humanoid Robot Locomotion with Human Reference](https://mlsanity.com/paper/2402.18294/) (2024)
- [Learning Whole-body Manipulation for Quadrupedal Robot](https://mlsanity.com/paper/2308.16820/) (2023)

## Built on by (most cited first, 30 of 51)

- [ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills](https://mlsanity.com/paper/2502.01143/) (2025)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [Humanoid Policy ~ Human Policy](https://mlsanity.com/paper/2503.13441/) (2025)
- [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://mlsanity.com/paper/2502.13013/) (2025)
- [InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions](https://mlsanity.com/paper/2502.20390/) (2025)
- [KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills](https://mlsanity.com/paper/2506.12851/) (2025)
- [AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control](https://mlsanity.com/paper/2505.03738/) (2025)
- [Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration](https://mlsanity.com/paper/2502.14795/) (2025)
- [TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System](https://mlsanity.com/paper/2511.02832/) (2025)
- [Learning Getting-Up Policies for Real-World Humanoid Robots](https://mlsanity.com/paper/2502.12152/) (2025)
- [Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation](https://mlsanity.com/paper/2510.08807/) (2025)
- [AC-DiT: Adaptive Coordination Diffusion Transformer for Mobile Manipulation](https://mlsanity.com/paper/2507.01961/) (2025)
- [PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System](https://mlsanity.com/paper/2510.11072/) (2025)
- [TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control](https://mlsanity.com/paper/2602.07439/) (2026)
- [A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion](https://mlsanity.com/paper/2502.03206/) (2025)
- [VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning](https://mlsanity.com/paper/2510.14930/) (2025)
- [HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation](https://mlsanity.com/paper/2604.07993/) (2026)
- [Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining](https://mlsanity.com/paper/2506.16475/) (2025)
- [SG-VLA: Learning Spatially-Grounded Vision-Language-Action Models for Mobile Manipulation](https://mlsanity.com/paper/2603.22760/) (2026)
- [Towards Adaptable Humanoid Control via Adaptive Motion Tracking](https://mlsanity.com/paper/2510.14454/) (2025)
- [SaPaVe: Towards Active Perception and Manipulation in Vision-Language-Action Models for Robotics](https://mlsanity.com/paper/2603.12193/) (2026)
- [Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions](https://mlsanity.com/paper/2502.01465/) (2025)
- [Natural Humanoid Robot Locomotion with Generative Motion Prior](https://mlsanity.com/paper/2503.09015/) (2025)
- [Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning](https://mlsanity.com/paper/2505.12278/) (2025)
- [Versatile Loco-Manipulation through Flexible Interlimb Coordination](https://mlsanity.com/paper/2506.07876/) (2025)
- [Humanoid Occupancy: Enabling A Generalized Multimodal Occupancy Perception System on Humanoid Robots](https://mlsanity.com/paper/2507.20217/) (2025)
- [SteadyTray: Learning Object Balancing Tasks in Humanoid Tray Transport via Residual Reinforcement Learning](https://mlsanity.com/paper/2603.10306/) (2026)
- [OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation](https://mlsanity.com/paper/2606.22174/) (2026)
- [Coordinated Humanoid Manipulation with Choice Policies](https://mlsanity.com/paper/2512.25072/) (2025)
- [CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation](https://mlsanity.com/paper/2602.15060/) (2026)

## Abstract (arXiv)

Humanoid robots require both robust lower-body locomotion and precise upper-body manipulation. While recent Reinforcement Learning (RL) approaches provide whole-body loco-manipulation policies, they lack precise manipulation with high DoF arms. In this paper, we propose decoupling upper-body control from locomotion, using inverse kinematics (IK) and motion retargeting for precise manipulation, while RL focuses on robust lower-body locomotion. We introduce PMP (Predictive Motion Priors), trained with Conditional Variational Autoencoder (CVAE) to effectively represent upper-body motions. The locomotion policy is trained conditioned on this upper-body motion representation, ensuring that the system remains robust with both manipulation and locomotion. We show that CVAE features are crucial for stability and robustness, and significantly outperforms RL-based whole-body control in precise manipulation. With precise upper-body motion and robust lower-body locomotion control, operators can remotely control the humanoid to walk around and explore different environments, while performing diverse manipulation tasks.