# Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning

arXiv: https://arxiv.org/abs/2607.20399 · HTML: https://mlsanity.com/paper/2607.20399/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 20 of its 40 references that are in the map.
- First posted on arXiv 22 Jul 2026.

## Builds on (most cited first, 20 of 20)

- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learning](https://mlsanity.com/paper/2109.11978/) (2021)
- [Sim-to-Real: Learning Agile Locomotion For Quadruped Robots](https://mlsanity.com/paper/1804.10332/) (2018)
- [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://mlsanity.com/paper/2407.01512/) (2024)
- [Learning Agile Soccer Skills for a Bipedal Robot with Deep Reinforcement Learning](https://mlsanity.com/paper/2304.13653/) (2023)
- [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://mlsanity.com/paper/2502.13013/) (2025)
- [Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning](https://mlsanity.com/paper/2501.02116/) (2025)
- [Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation](https://mlsanity.com/paper/2309.01952/) (2023)
- [Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control](https://mlsanity.com/paper/2412.07773/) (2024)
- [iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots](https://mlsanity.com/paper/2203.06972/) (2022)
- [ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation](https://mlsanity.com/paper/2502.00893/) (2025)
- [Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven Humanoid](https://mlsanity.com/paper/2204.03897/) (2022)
- [Extended Friction Models for the Physics Simulation of Servo Actuators](https://mlsanity.com/paper/2410.08650/) (2024)
- [Low-Latency Immersive 6D Televisualization with Spherical Rendering](https://mlsanity.com/paper/2109.11373/) (2021)
- [Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions](https://mlsanity.com/paper/2503.12725/) (2025)
- [Learning Bipedal Locomotion on Gear-Driven Humanoid Robot Using Foot-Mounted IMUs](https://mlsanity.com/paper/2504.00614/) (2025)
- [Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds](https://mlsanity.com/paper/2607.18135/) (2026)
- [Analysis and Perspectives on the ANA Avatar XPRIZE Competition](https://mlsanity.com/paper/2401.05290/) (2024)
- [Remote telepresence over large distances via robot avatars: case studies](https://mlsanity.com/paper/2409.01159/) (2024)
- [High-Speed and Impact Resilient Teleoperation of Humanoid Robots](https://mlsanity.com/paper/2409.04639/) (2024)

## Abstract (arXiv)

Full-sized humanoid robot capabilities have grown exponentially in recent years, aiming towards general-purpose deployment in human environments. A popular control method used by manufacturers utilizes Virtual Reality for upper-body teleoperation and Reinforcement Learning for lower-body balance and locomotion control. As a result, a single remote operator can see, manipulate, and navigate about a real, distant physical environment. This powerful control stack is often relegated to expensive full-sized robots, many of which are inaccessible to the research community. Miniature humanoids are more prevalent, but employ less biomimicry in their design (e.g. fewer sensors, Degrees of Freedom, etc) and lack similar developments. This paper describes a compliant full-body telepresence control stack developed from the ground up for miniature humanoids. Framework experimentation on ROBOTIS OP3 hardware showcases walking at speeds up to 0.45 m/s independent of arm motions. Tele-loco-manipulation is demonstrated via a cube relocation experiment with an expert human operator. On average, the teleoperated system moved 2 different 40 g cubes within 10 mins, walking a total distance of 5 m. Overall, the developed system shows potential for miniature humanoid tele-loco-manipulation.