{"id":"https://openalex.org/W4405786155","doi":"https://doi.org/10.1109/iros58592.2024.10801984","title":"Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation","display_name":"Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786155","doi":"https://doi.org/10.1109/iros58592.2024.10801984"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111230262","display_name":"Tairan He","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tairan He","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102912701","display_name":"Zhengyi Luo","orcid":"https://orcid.org/0000-0002-1842-7622"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhengyi Luo","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101341250","display_name":"Wenli Xiao","orcid":"https://orcid.org/0000-0001-7310-1652"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenli Xiao","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393899","display_name":"Chong Zhang","orcid":"https://orcid.org/0000-0002-2162-4344"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chong Zhang","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037322163","display_name":"Kris Kitani","orcid":"https://orcid.org/0000-0002-9389-4060"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kris Kitani","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040156274","display_name":"Changliu Liu","orcid":"https://orcid.org/0000-0002-3767-5517"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changliu Liu","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029314167","display_name":"Guanya Shi","orcid":"https://orcid.org/0000-0002-9075-3705"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guanya Shi","raw_affiliation_strings":["Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5111230262"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":16.0845,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.9953602,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"8944","last_page":"8951"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.8177000284194946,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.8177000284194946,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.8007000088691711,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.7907000184059143,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8922088146209717},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7622525095939636},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6509666442871094},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5154910683631897},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5153905153274536},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4201014041900635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37041306495666504},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33489441871643066},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1965174674987793},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16785696148872375}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8922088146209717},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7622525095939636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6509666442871094},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5154910683631897},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5153905153274536},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4201014041900635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37041306495666504},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33489441871643066},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1965174674987793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16785696148872375}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W89513112","https://openalex.org/W1967554269","https://openalex.org/W1994634749","https://openalex.org/W2033403369","https://openalex.org/W2133229776","https://openalex.org/W2190226114","https://openalex.org/W2491889623","https://openalex.org/W2571249159","https://openalex.org/W2736601468","https://openalex.org/W2739203437","https://openalex.org/W2739330054","https://openalex.org/W2762522875","https://openalex.org/W2767050701","https://openalex.org/W2796290181","https://openalex.org/W2806547618","https://openalex.org/W2890260927","https://openalex.org/W2891112931","https://openalex.org/W2944561196","https://openalex.org/W2971856312","https://openalex.org/W2982341362","https://openalex.org/W3010904850","https://openalex.org/W3046940268","https://openalex.org/W3047351634","https://openalex.org/W3048710353","https://openalex.org/W3147968035","https://openalex.org/W3167491448","https://openalex.org/W3176539729","https://openalex.org/W4210736735","https://openalex.org/W4229044820","https://openalex.org/W4318953217","https://openalex.org/W4385430674","https://openalex.org/W4387005676","https://openalex.org/W4387375948","https://openalex.org/W4390480962","https://openalex.org/W4390577827","https://openalex.org/W4390874171","https://openalex.org/W4391163944","https://openalex.org/W4391309699","https://openalex.org/W4401415103","https://openalex.org/W4402354017","https://openalex.org/W4402354127","https://openalex.org/W4402354142","https://openalex.org/W4403741606","https://openalex.org/W6779458208","https://openalex.org/W6785850154","https://openalex.org/W6857331395","https://openalex.org/W6860003303","https://openalex.org/W6870804730"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W4315881361","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W4318953217","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295"],"abstract_inverted_index":{"We":[0,84],"present":[1],"Human":[2],"to":[3,46,75,116],"Humanoid":[4],"(H2O),":[5],"a":[6,18,29,42,53,60,81],"reinforcement":[7],"learning":[8],"(RL)":[9],"based":[10],"framework":[11],"that":[12],"enables":[13],"real-time":[14,62,119],"whole-body":[15,90,120],"teleoperation":[16,87],"of":[17,34,88,108],"full-sized":[19],"humanoid":[20,38,63,78,121],"robot":[21,79],"with":[22],"only":[23],"an":[24],"RGB":[25],"camera.":[26],"To":[27,105],"create":[28],"large-scale":[30],"retargeted":[31],"motion":[32,55,64],"dataset":[33],"human":[35],"movements":[36],"for":[37],"robots,":[39],"we":[40,58],"propose":[41],"scalable":[43],"\"sim-to-data\"":[44],"process":[45],"filter":[47],"and":[48,72],"pick":[49],"feasible":[50],"motions":[51,71,91],"using":[52,68],"privileged":[54],"imitator.":[56],"Afterwards,":[57],"train":[59],"robust":[61],"imitator":[65],"in":[66,80,92],"simulation":[67],"these":[69],"refined":[70],"transfer":[73],"it":[74],"the":[76,106,113],"real":[77],"zero-shot":[82],"manner.":[83],"successfully":[85],"achieve":[86,117],"dynamic":[89],"real-world":[93],"scenarios,":[94],"including":[95],"walking,":[96],"back":[97],"jumping,":[98],"kicking,":[99],"turning,":[100],"waving,":[101],"pushing,":[102],"boxing,":[103],"etc.":[104],"best":[107],"our":[109],"knowledge,":[110],"this":[111],"is":[112],"first":[114],"demonstration":[115],"learning-based":[118],"teleoperation.":[122]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":56},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
