# TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System

arXiv: https://arxiv.org/abs/2511.02832 · HTML: https://mlsanity.com/paper/2511.02832/

## Key facts

- Cited by 44 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 38 references that are in the map.
- First posted on arXiv 4 Nov 2025.

## Builds on (most cited first, 29 of 29)

- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [AMASS: Archive of Motion Capture as Surface Shapes](https://mlsanity.com/paper/1904.03278/) (2019)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [Object Motion Guided Human Motion Synthesis](https://mlsanity.com/paper/2309.16237/) (2023)
- [GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators](https://mlsanity.com/paper/2309.13037/) (2023)
- [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)
- [BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion](https://mlsanity.com/paper/2508.08241/) (2025)
- [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://mlsanity.com/paper/2407.01512/) (2024)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [GMT: General Motion Tracking for Humanoid Whole-Body Control](https://mlsanity.com/paper/2506.14770/) (2025)
- [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://mlsanity.com/paper/2502.13013/) (2025)
- [Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking](https://mlsanity.com/paper/2510.02252/) (2025)
- [Visual Imitation Enables Contextual Humanoid Control](https://mlsanity.com/paper/2505.03729/) (2025)
- [ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation](https://mlsanity.com/paper/2405.02292/) (2024)
- [Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control](https://mlsanity.com/paper/2412.07773/) (2024)
- [AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control](https://mlsanity.com/paper/2505.03738/) (2025)
- [Learning Humanoid Locomotion with Perceptive Internal Model](https://mlsanity.com/paper/2411.14386/) (2024)
- [BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds](https://mlsanity.com/paper/2502.10363/) (2025)
- [CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks](https://mlsanity.com/paper/2506.08931/) (2025)
- [Vision in Action: Learning Active Perception from Human Demonstrations](https://mlsanity.com/paper/2506.15666/) (2025)
- [Hand-Eye Autonomous Delivery: Learning Humanoid Navigation, Locomotion and Reaching](https://mlsanity.com/paper/2508.03068/) (2025)
- [ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation](https://mlsanity.com/paper/2502.00893/) (2025)
- [XRoboToolkit: A Cross-Platform Framework for Robot Teleoperation](https://mlsanity.com/paper/2508.00097/) (2025)
- [Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning](https://mlsanity.com/paper/2505.12278/) (2025)

## Built on by (most cited first, 30 of 44)

- [World Model for Robot Learning: A Comprehensive Survey](https://mlsanity.com/paper/2605.00080/) (2026)
- [Perceptive Humanoid Parkour: Chaining Dynamic Human Skills via Motion Matching](https://mlsanity.com/paper/2602.15827/) (2026)
- [TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control](https://mlsanity.com/paper/2602.07439/) (2026)
- [X-Humanoid: Robotize Human Videos to Generate Humanoid Videos at Scale](https://mlsanity.com/paper/2512.04537/) (2025)
- [Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations](https://mlsanity.com/paper/2602.06643/) (2026)
- [FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions](https://mlsanity.com/paper/2601.12799/) (2026)
- [MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation](https://mlsanity.com/paper/2606.09215/) (2026)
- [ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data](https://mlsanity.com/paper/2603.09170/) (2026)
- [SaPaVe: Towards Active Perception and Manipulation in Vision-Language-Action Models for Robotics](https://mlsanity.com/paper/2603.12193/) (2026)
- [HoloMotion-1 Technical Report](https://mlsanity.com/paper/2605.15336/) (2026)
- [CHIP: Adaptive Compliance for Humanoid Control through Hindsight Perturbation](https://mlsanity.com/paper/2512.14689/) (2025)
- [OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation](https://mlsanity.com/paper/2606.22174/) (2026)
- [HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model](https://mlsanity.com/paper/2602.11758/) (2026)
- [CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation](https://mlsanity.com/paper/2602.15060/) (2026)
- [SceneBot: Contact-Prompted General Humanoid Whole Body Tracking with Scene-Interaction](https://mlsanity.com/paper/2606.27581/) (2026)
- [SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating](https://mlsanity.com/paper/2603.23983/) (2026)
- [SUGAR: A Scalable Human-Video-Driven Generalizable Humanoid Loco-Manipulation Learning Framework](https://mlsanity.com/paper/2605.20373/) (2026)
- [VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes](https://mlsanity.com/paper/2606.30645/) (2026)
- [REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning](https://mlsanity.com/paper/2603.13707/) (2026)
- [VTouch++: A Multimodal Dataset with Vision-Based Tactile Enhancement for Bimanual Manipulation](https://mlsanity.com/paper/2604.20444/) (2026)
- [Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors](https://mlsanity.com/paper/2605.22272/) (2026)
- [HANDOFF: Humanoid Agentic Task-Space Whole-Body Control via Distilled Complementary Teachers](https://mlsanity.com/paper/2606.06493/) (2026)
- [Scaling Behavior Foundation Model for Humanoid Robots](https://mlsanity.com/paper/2607.15163/) (2026)
- [YOR: Your Own Mobile Manipulator for Generalizable Robotics](https://mlsanity.com/paper/2602.11150/) (2026)
- [HERO: Learning Humanoid End-Effector Control for Visual Whole-Body Open-Vocabulary Object Grasping](https://mlsanity.com/paper/2602.16705/) (2026)
- [DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors](https://mlsanity.com/paper/2604.00202/) (2026)
- [PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation](https://mlsanity.com/paper/2606.26741/) (2026)
- [ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control](https://mlsanity.com/paper/2606.30362/) (2026)
- [HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark](https://mlsanity.com/paper/2608.13555/) (2026)
- [BRIDGE: An Open-Source Humanoid Platform via Morphology-Control Co-Design for Physical AI](https://mlsanity.com/paper/2609.03497/) (2026)

## Abstract (arXiv)

Large-scale data has driven breakthroughs in robotics, from language models to vision-language-action models in bimanual manipulation. However, humanoid robotics lacks equally effective data collection frameworks. Existing humanoid teleoperation systems either use decoupled control or depend on expensive motion capture setups. We introduce TWIST2, a portable, mocap-free humanoid teleoperation and data collection system that preserves full whole-body control while advancing scalability. Our system leverages PICO4U VR for obtaining real-time whole-body human motions, with a custom 2-DoF robot neck (cost around 250) for egocentric vision, enabling holistic human-to-humanoid control. We demonstrate long-horizon dexterous and mobile humanoid skills and we can collect 100 demonstrations in 15 minutes with an almost 100% success rate. Building on this pipeline, we propose a hierarchical visuomotor policy framework that autonomously controls the full humanoid body based on egocentric vision. Our visuomotor policy successfully demonstrates whole-body dexterous manipulation and dynamic kicking tasks. The entire system is fully reproducible and open-sourced at https://yanjieze.com/TWIST2 . Our collected dataset is also open-sourced at https://twist-data.github.io .