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Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Whole-body humanoid teleoperation commonly combines a motion-tracking policy with a separate dexterous-hand retargeter. However, independently generated commands do not explicitly preserve body-hand geometric relations, leading to mismatches in relative wrist poses and fingertip positions during bimanual interaction. We present a gated residual coordination framework that keeps both modules frozen and applies bounded corrections to their outputs. A motion-conditioned action gate allocates correction authority across joint groups, while reference-geometry-dependent reward gates emphasize releva

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