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cs.RO2026
SPOT: Spatial Perception-Oriented Long-Horizon Humanoid Teleoperation
Lixing Fang, Ziyan Xiong, Sunli Chen +2
High-quality demonstration data is becoming a central bottleneck for training general-purpose humanoid robots. While recent humanoid teleoperation systems have made substantial pro…
cs.RO2026
GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation
Sriram Krishna, Ben Eisner, Haotian Zhan +5
We present GHOST, a framework for learning visuomotor manipulation policies that generalize beyond the training distribution. GHOST factorizes control into (i) a high-level policy…
cs.RO2026
ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control
Ziyan Xiong, Lixing Fang, Junyun Huang +3
Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-proce…