TeleGate achieves high-precision real-time whole-body teleoperation of humanoid robots by dynamically gating between expert policies and using a VAE motion prior to infer future intent from history, outperforming distillation baselines on dynamic motions with only 2.5 hours of mocap data.
The network architecture is the same as the Actor, adopting a 5-layer MLP with hidden layer dimensions of(512,512,256,256,128), ReLU activation, and a 1-dimensional output layer
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TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior
TeleGate achieves high-precision real-time whole-body teleoperation of humanoid robots by dynamically gating between expert policies and using a VAE motion prior to infer future intent from history, outperforming distillation baselines on dynamic motions with only 2.5 hours of mocap data.