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TWIST: Teleoperated Whole-Body Imitation System

2026.  03.  06.

Review | CoRL ‘25 (Best Demo Award)

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0. LINKS

https://yanjieze.com/TWIST/

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1. GOAL

Teleoperated Whole-Body Imitation

Whole-body, Versatile, Real time motion tracking

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2. TRAINING

AMASS, OMOMO (42h)

(0.5h)

PHC

IK-based

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2. TRAINING

RL+BC

Teacher:

Student:

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3. TELEOPERATION

0.7s (retargeting)

0.2s (inference)

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4. ABLATION

https://yanjieze.com/TWIST/

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4. ABLATION: RL+BC

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4. ABLATION: Adding MoCap

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4. ABLATION: Adding End-Effector Perturbation

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TWIST2: Scalable, Portable, and Holistic

Humanoid Data Collection System

Review | ICRA ‘26

https://yanjieze.com/TWIST2/

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1. WHAT IS NEW

Motion source: MoCap -> Motion Tracker(PICO4U)

Goal: training tracking controller for teleoperation

-> framework to collect dataset for teleoperation with vision

-> vision-based autonomous policy (+egocentric)

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2. OVERVIEW

IK-based

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2. OVERVIEW

IK-based

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3. MOTION TRACKER

TWIST: RL+BC

TWIST2: RL

[TWIST]

  1. Teleoperation
  2. Collecting Vision+Teleoperation Dataset

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4. VISUOMOTOR POLICY

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5. SUPPLEMENT