Teleopit: A Full-Embodiment Humanoid Teleoperation System

Abstract:Humanoid teleoperation for demonstration collection requires coordinated whole-body motion, continuous dexterous hand control, and viewpoint control. Existing systems either simplify hand commands or depend on dedicated wearable sensors for fine-grained hand motion. We introduce Teleopit, a full-embodiment teleoperation system that maps body, hand, and head signals from VR to a humanoid body, configurable dexterous hands, and a 2-DoF active vision module. A history encoder and failure-aware rewind sampling improve the motion tracker on both motion-capture and live VR references. An optimization-based hand retargeter combines normalized finger directions, fingertip closure, and thumb-frame alignment to map human hand motion to different dexterous hands without tuning hand-specific objective or solver hyperparameters. Component experiments evaluate tracking success rate and retargeting behavior, while real-robot teleoperation demonstrates coordinated locomotion, manipulation, and viewpoint control. ACT and GR00T N1.7 policies trained on 96 successful demonstrations collected with Teleopit achieve task success rates of 90.0% and 95.0%, respectively, when deployed on the humanoid. The project page is available at this https URL.

17 pages, 16 figures. Project page: this https URL

Robotics (cs.RO)

arXiv:2608.01834 [cs.RO]

(or arXiv:2608.01834v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2608.01834 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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