Human-Like Redundancy Resolution for Real-Time Bimanual Humanoid Teleoperation
cs.RO
Submitted: 2026-10-12
Updated: 2026-10-12
Comments: 8 pages, 10 figures, 3 tables. Project website: https://human-like-redundancy.github.io/
Code: https://github.com/unitreerobotics/xr_
Project page: https://human-like-redundancy.github.io
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- Data Pyramid for Embodied Manipulation: A Survey
- A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
- Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments
- HL-IK: A Lightweight Implementation of Human-Like Inverse Kinematics in Humanoid Arms
- Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
- MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics
- ObjRetarget: An Object-Aware Motion Retargeting Framework with Anthropomorphic Arm Constraints and Polyhedral Hand Modeling
- OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
- TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
- J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators
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