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SPOT: Spatial Perception-Oriented Long-Horizon Humanoid Teleoperation

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

High-quality demonstration data is becoming a central bottleneck for training general-purpose humanoid robots. While recent humanoid teleoperation systems have made substantial progress in retargeting human motion to robot motion, long-horizon loco-manipulation requires another capability: operators must maintain task-relevant spatial awareness over time, e.g., object locations, surrounding environments, the robot's pose. We call the extent of this awareness the operator's perceptual horizon. However, existing methods often shorten this: narrow views miss peripheral events, robot-mounted camer

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