HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum

arXiv:2607.02332v1 Announce Type: new Abstract: General motion tracking and teleoperation offer a promising path to scalable humanoid skill acquisition, yet most existing frameworks are validated on compact platforms or without real payload interaction, leaving full-size humanoids with real payloads largely unexplored. Scaling to full-size humanoids introduces two compounding challenges: their larger inertia and tighter balance margins make tracking highly sensitive to noise, drift, and retarget...