mlsanityData to 14 Oct 2026

TWIST: Teleoperated Whole-Body Imitation System

arXiv 2505.02833 ↗First posted 5 May 2025cs.RO cs.CV cs.LGcited by 101

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Cited by 26 in Deep reinforcement learning methods, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

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

Key facts. Cited by 101 papers in the map (data through 14 Oct 2026). Builds on 34 of its 47 references that are in the map. First posted on arXiv 5 May 2025.

Builds on

34 of 47 references.

References · 34

  1. 2017Proximal Policy Optimization Algorithmscited by 15,215
  2. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,236
  3. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  4. 2025SFT Memorizes, RL Generalizes: A Comparative Study of Foundation Model Post-trainingcited by 672
  5. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 512
  6. 2023Perpetual Humanoid Control for Real-time Simulated Avatarscited by 218
  7. 2023Object Motion Guided Human Motion Synthesiscited by 212
  8. 2023WHAM: Reconstructing World-grounded Humans with Accurate 3D Motioncited by 206
  9. 2024OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learningcited by 189
  10. 2023Real-World Humanoid Locomotion with Reinforcement Learningcited by 187
  11. 2024HumanPlus: Humanoid Shadowing and Imitation from Humanscited by 185
  12. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 145
22 more
  1. 2024Expressive Whole-Body Control for Humanoid Robotscited by 139
  2. 2024Learning Human-to-Humanoid Real-Time Whole-Body Teleoperationcited by 130
  3. 2024Humanoid Parkour Learningcited by 96
  4. 2024HOVER: Versatile Neural Whole-Body Controller for Humanoid Robotscited by 91
  5. 2024ExBody2: Advanced Expressive Humanoid Whole-Body Controlcited by 88
  6. 2025HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpitcited by 76
  7. 2024WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contactscited by 61
  8. 2024Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learningcited by 56
  9. 2024Generalizable Humanoid Manipulation with 3D Diffusion Policiescited by 52
  10. 2024Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Controlcited by 51
  11. 2025Learning Humanoid Standing-up Control across Diverse Posturescited by 46
  12. 2023Teleoperation of Humanoid Robots: A Surveycited by 34
  13. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 31
  14. 2024Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policiescited by 30
  15. 2024Learning Humanoid Locomotion over Challenging Terraincited by 26
  16. 2025Learning Getting-Up Policies for Real-World Humanoid Robotscited by 26
  17. 2024Bimanual Dexterity for Complex Taskscited by 25
  18. 2019Whole-Body Geometric Retargeting for Humanoid Robotscited by 20
  19. 2024Learning Visual Quadrupedal Loco-Manipulation from Demonstrationscited by 20
  20. 2022iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robotscited by 15
  21. 2024Learning H-Infinity Locomotion Controlcited by 11
  22. 2025Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motionscited by 7

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 42; 2026: 59.

101 papers.

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  1. 2025BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusioncited by 165
  2. 2025SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Controlcited by 101
  3. 2025OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interactioncited by 71
  4. 2025KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skillscited by 52
  5. 2025TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection Systemcited by 44
  6. 2025LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instructioncited by 43
  7. 2025ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learningcited by 41
  8. 2026Kimodo: Scaling Controllable Human Motion Generationcited by 37
  9. 2025WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Controlcited by 36
  10. 2025SPIDER: Scalable Physics-Informed Dexterous Retargetingcited by 32
  11. 2025ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrationscited by 19
  12. 2025PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction Systemcited by 18
38 more
  1. 2025DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusioncited by 15
  2. 2025SoftMimic: Learning Compliant Whole-body Control from Examplescited by 14
  3. 2026HumanX: Toward Agile and Generalizable Humanoid Interaction Skills from Human Videoscited by 14
  4. 2026TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Controlcited by 14
  5. 2025KungfuBot2: Learning Versatile Motion Skills for Humanoid Whole-Body Controlcited by 13
  6. 2026Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrationscited by 12
  7. 2025DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulationcited by 11
  8. 2026FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructionscited by 10
  9. 2026HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulationcited by 10
  10. 2025SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blendingcited by 9
  11. 2025Humanoid Goalkeeper: Learning from Position Conditioned Task-Motion Constraintscited by 9
  12. 2026ULTRA: Unified Multimodal Control for Autonomous Humanoid Whole-Body Loco-Manipulationcited by 9
  13. 2025XRoboToolkit: A Cross-Platform Framework for Robot Teleoperationcited by 8
  14. 2025Towards Adaptable Humanoid Control via Adaptive Motion Trackingcited by 8
  15. 2025Learning Human-Humanoid Coordination for Collaborative Object Carryingcited by 7
  16. 2025GentleHumanoid: Learning Upper-body Compliance for Contact-rich Human and Object Interactioncited by 7
  17. 2025SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Controlcited by 7
  18. 2025RoboMirror: Understand Before You Imitate for Video to Humanoid Locomotioncited by 7
  19. 2025From Generated Human Videos to Physically Plausible Robot Trajectoriescited by 6
  20. 2026Deep Whole-body Parkourcited by 6
  21. 2026Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstrationcited by 6
  22. 2025CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbationcited by 5
  23. 2025UniAct: Unified Motion Generation and Action Streaming for Humanoid Robotscited by 5
  24. 2026Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Trackingcited by 5
  25. 2026OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulationcited by 5
  26. 2025Beyond Topology: A Morphological Symmetry Graph Representation for Locomotion Policy Learningcited by 4
  27. 2025Coordinated Humanoid Manipulation with Choice Policiescited by 4
  28. 2026CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperationcited by 4
  29. 2026SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interactioncited by 4
  30. 2026Learning Panorama-Aware VLA for Mobile Manipulation with Whole-Body Teleoperationcited by 4
  31. 2025MaskedManipulator: Versatile Whole-Body Manipulationcited by 3
  32. 2025RobotDancing: Residual-Action Reinforcement Learning Enables Robust Long-Horizon Humanoid Motion Trackingcited by 3
  33. 2025Towards Seamless Interaction: Causal Turn-Level Modeling of Interactive 3D Conversational Head Dynamicscited by 3
  34. 2026Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Controlcited by 3
  35. 2026InterReal: A Unified Physics-Based Imitation Framework for Learning Human-Object Interaction Skillscited by 3
  36. 2026SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gatingcited by 3
  37. 2026RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperationcited by 3
  38. 2025Feature-Based vs. GAN-Based Learning from Demonstrations: When and Whycited by 2

50 most cited of 101 All 101 (JSON)

Similar, not cited

Close in wording, no citation either way

  1. 2025Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning
  2. 2026Whole-Body UMI: Transferring UMI Manipulation Skills to Humanoid Whole-Body Manipulation via Real-Time Motion Generation ↗
  3. 2026HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning
  4. 2026OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System ↗
  5. 2026HumDex: Humanoid Dexterous Manipulation Made Easy
  6. 2026InterMimicGen: Scaling Humanoid Loco-Manipulation through Self-Evolving Motion Imitation
  7. 2023Development of a Whole-body Work Imitation Learning System by a Biped and Bi-armed Humanoid
  8. 2025Learning Adaptive Neural Teleoperation for Humanoid Robots: From Inverse Kinematics to End-to-End Control ↗