Loading OmniClone

OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System

Yixuan Li*,1,2,7 Le Ma*,2,7 Yutang Lin*,3,2,6,7,8,10 Yushi Du4,2,7 Mengya Liu2,7 Kaizhe Hu5
Jieming Cui3,2,6,7,8,10 Yixin Zhu✉,6,3,7,8,10 Wei Liang✉,1,9 Baoxiong Jia✉,2,7 Siyuan Huang✉,2,7
Paper ArXiv Code Data Collection

Utilizing a systematic perspective to develop an affordable, robust, and versatile whole-body teleoperation system.

Benchmarking with OmniBench

We leverage OmniBench—the first comprehensive diagnostic benchmark—to systematically evaluate humanoid whole-body teleoperation systems and provide actionable insights for policy optimization.

Bias Identification & Optimization

We identify and mitigate system biases introduced by retargeting and hardware fluctuations, resulting in a refined, high-stability teleoperation framework.

Robust Teleoperation System

We introduce a Transformer-based model integrated with these optimizations, providing a robust, affordable, and easily reproducible system for high-fidelity humanoid control.

Robust Deployment Across Diverse Human Body Shapes

OmniClone enables stable, whole-body teleoperation across a wide range of operator heights, from 147cm to 194cm.

${h} cm
`); });

High-Fidelity Long-Horizon Teleoperation

Demonstrating high-fidelity dextrous manipulation across long-term interactions and different household settings.

${v.label}
`); });

Autonomy Policy Trained via OmniClone Demonstrations

Generating high-quality expert trajectories for autonomy policy training (e.g., Gr00T N1.6) using only 50-demonstrations.

Whole-body Pick-and-Place
Tabletop Pick-and-Place

Zero-Shot Motion Play

Enabling zero-shot execution of diverse motions generated by HY-Motion, demonstrating a system robust to any interface.

${v.label}
`); });

Benchmark

OmniBench: Systematic diagnostics and actionable insights for humanoid whole-body teleoperation.

MPJPE Error

Outer rim indicates lower tracking errors

Training Dataset Distribution

System Illustration

Optimized Whole-Body Teleoperation Infrastructure: Integrating a High-Fidelity Transformer-Based Control Model.

OmniClone Pipeline

Citation

Copied to clipboard
@article{li2026omniclone,
  title={OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System},
  author={Li, Yixuan and Ma, Le and Lin, Yutang and Du, Yushi and Liu, Mengya and Hu, Kaizhe and Cui, Jieming and Zhu, Yixin and Liang, Wei and Jia, Baoxiong and Huang, Siyuan},
  journal={arXiv preprint arXiv:2603.14327},
  year={2026}
}

Related Projects

Acknowledgements

We extend our sincere gratitude to Peiyang Li, Zimeng Yuan, Zhen Chen, Chengcheng Zhang, Yang Zhang, Nian Liu, Zhidan Liu, Zihui Liu and Mulin Sui, for their invaluable help in filming this demo.
This work is supported in part by the National Key Research and Development Program of China (2025YFE0218200), the National Natural Science Foundation of China (62172043 to W.L., 62376009 to Y.Z.), the PKU-BingJi Joint Laboratory for Artificial Intelligence, the Wuhan Major Scientific and Technological Special Program (2025060902020304), the Hubei Embodied Intelligence Foundation Model Research and Development Program, and the National Comprehensive Experimental Base for Governance of Intelligent Society, Wuhan East Lake High-Tech Development Zone.