# CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System

arXiv: https://arxiv.org/abs/2508.00162 · HTML: https://mlsanity.com/paper/2508.00162/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 31 Jul 2025.

## Built on by (most cited first, 2 of 2)

- [TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control](https://mlsanity.com/paper/2602.07439/) (2026)
- [ModPack: Extensible Teleoperation Interface for Bimanual Mobile Manipulation](https://mlsanity.com/paper/2607.19479/) (2026)

## Abstract (arXiv)

Recent advances in teleoperation have demonstrated robots performing complex manipulation tasks. However, existing works rarely support whole-body joint-level teleoperation for humanoid robots, limiting the diversity of tasks that can be accomplished. This work presents Controller for Humanoid Imitation and Live Demonstration (CHILD), a compact reconfigurable teleoperation system that enables joint level control over humanoid robots. CHILD fits within a standard baby carrier, allowing the operator control over all four limbs, and supports both direct joint mapping for full-body control and loco-manipulation. Adaptive force feedback is incorporated to enhance operator experience and prevent unsafe joint movements. We validate the capabilities of this system by conducting loco-manipulation and full-body control demonstrations on a humanoid robot and multiple dual-arm systems. Lastly, we open-source the design of the hardware promoting accessibility and reproducibility. Additional details and open-source information are available at our project website: https://uiuckimlab.github.io/CHILD-pages.