CLONE: whole-body humanoid teleoperation from a single MR headset — closed-loop correction plus MoE tracking keeps 5.1cm error over 8.9m, built for long-horizon data collection
CLONE (CoRL 2025, BIT + BIGAI + Peking University; 208-second demo video): an operator wearing a single commercial MR headset teleoperates a humanoid's entire body using only head and hand tracking — not just the arms, but whole-body tasks like picking an object off the floor and placing it in a distant bin. The system tackles two pain points head-on: prior systems decouple upper- and lower-body control for stability, sacrificing natural coordination — CLONE uses an MoE-based unified tracking policy to learn diverse motion skills with whole-body coordination; and open-loop operation accumulates drift with no real-time position feedback — CLONE adds closed-loop error correction with LiDAR odometry for global positioning. Results: 5.1cm mean positional error over 8.9m long-range trajectories; a purpose-built Cloned dataset (AMASS augmented via motion editing plus newly collected human mocap) covers motions and transitions relevant to humanoid control. The goal is explicit: making long-horizon interaction data collection for humanoids easier — teleoperation fidelity directly caps how much downstream autonomous policies can learn, and the line continued with OmniClone (2026, whole-body teleop on a single consumer GPU with the OmniBench benchmark).
