ExtremControl: 四肢直接制御による低遅延ヒューマノイド遠隔操作
ExtremControl: Low-Latency Humanoid Teleoperation with Direct Extremity Control
全身リターゲティングを避け、選択した剛体リンク（主に四肢）のSE(3)姿勢を直接操作し、速度フィードフォワード制御を組み合わせることで、50msの低遅延を実現したヒューマノイド遠隔操作フレームワーク。
詳しい要約
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著者: Ziyan Xiong, Lixing Fang, Junyun Huang, Kashu Yamazaki, Hao Zhang, Chuang Gan
分類: cs.RO
原文アブストラクト
Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only PD control, resulting in substantial latency that severely limits responsiveness and prevents tasks requiring rapid feedback and fast reactions. To address this problem, we propose ExtremControl, a low latency whole-body control framework that: (1) operates directly on SE(3) poses of selected rigid links, primarily humanoid extremities, to avoid full-body retargeting; (2) utilizes a Cartesian-space mapping to directly convert human motion to humanoid link targets; and (3) incorporates velocity feedforward control at low level to support highly responsive behavior under rapidly changing control interfaces. We further provide a unified theoretical formulation of ExtremControl and systematically validate its effectiveness through experiments in both simulation and real-world environments. Building on ExtremControl, we implement a low-latency humanoid teleoperation system that supports both optical motion capture and VR-based motion tracking, achieving end-to-end latency as low as 50ms and enabling highly responsive behaviors such as ping-pong ball balancing, juggling, and real-time return, thereby substantially surpassing the 200ms latency limit observed in prior work.
