{"ID":2888553,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.00162","arxiv_id":"2508.00162","title":"CHILD (Controller for Humanoid Imitation and Live Demonstration): a Whole-Body Humanoid Teleoperation System","abstract":"Recent advances in teleoperation have demonstrated robots performing complex manipulation tasks. However, existing works rarely support whole-body joint-level teleoperation for humanoid robots, limiting the diversity of tasks that can be accomplished. This work presents Controller for Humanoid Imitation and Live Demonstration (CHILD), a compact reconfigurable teleoperation system that enables joint level control over humanoid robots. CHILD fits within a standard baby carrier, allowing the operator control over all four limbs, and supports both direct joint mapping for full-body control and loco-manipulation. Adaptive force feedback is incorporated to enhance operator experience and prevent unsafe joint movements. We validate the capabilities of this system by conducting loco-manipulation and full-body control demonstrations on a humanoid robot and multiple dual-arm systems. Lastly, we open-source the design of the hardware promoting accessibility and reproducibility. Additional details and open-source information are available at our project website: https://uiuckimlab.github.io/CHILD-pages.","short_abstract":"Recent advances in teleoperation have demonstrated robots performing complex manipulation tasks. However, existing works rarely support whole-body joint-level teleoperation for humanoid robots, limiting the diversity of tasks that can be accomplished. This work presents Controller for Humanoid Imitation and Live Demons...","url_abs":"https://arxiv.org/abs/2508.00162","url_pdf":"https://arxiv.org/pdf/2508.00162v2","authors":"[\"Noboru Myers\",\"Obin Kwon\",\"Sankalp Yamsani\",\"Joohyung Kim\"]","published":"2025-07-31T21:08:15Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}