CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperation
Researchers' new system solves long-horizon teleoperation drift using 20 hours of motion data and 1300 GPU hours of training.
A research team led by Tengjie Zhu developed CLOT, a real-time whole-body humanoid teleoperation system. It uses closed-loop global motion tracking with high-frequency localization feedback to eliminate pose drift during extended operation. The system was trained on 20 hours of human motion data over 1300 GPU hours using a transformer-based policy, and deployed on a 31-DoF full-sized humanoid. Users can achieve high-precision, drift-free human-to-humanoid mimicry for long-duration tasks.
Why It Matters
Enables precise, stable control of humanoid robots for complex real-world applications like disaster response and industrial maintenance.