# CLONE: robot AI research model CLONE is a closed-loop whole-body humanoid [teleoperation](/glossary/teleoperation.md) system from Beijing Institute of Technology (BIT), Beijing Institute for General Artificial Intelligence (BIGAI), and [Peking University](/companies/peking-university-robotics.md) (PKU). It uses a Mixture-of-Experts (MoE) student policy with LiDAR-odometry error correction so an operator can drive coordinated upper- and lower-body motion from only head and wrist tracking on a commercial MR headset (Apple Vision Pro). The project page and arXiv 2506.08931 report real-world [Unitree G1](/models/unitree-g1.md) demos including ground pick-and-place, table tennis strokes, and long-horizon navigation with about 5.1 cm mean straight-path tracking error over 8.9 m. Early deployment checkpoints are released; training and evaluation code remain pending per the project README. Recorded as an unreviewed research-model stub pending deeper editorial pass. - **Slug:** clone - **Type:** Research model - **Maturity (DEPLOY ladder):** Research - **Open source:** no ## Architecture MoE student policy (3 layers x 4 experts, top-2 routing) distilled from a privileged teacher; closed-loop global pose via LiDAR odometry (FAST-LIO2) plus Apple Vision Pro operator tracking; trained on augmented AMASS subset (CLONED) with hand-orientation augmentation. Builds on OmniH2O-style teacher-student teleop. ## Key facts - **What it is:** Closed-loop whole-body humanoid [teleoperation](/glossary/teleoperation.md) policy (MoE student + [LiDAR](/glossary/lidar.md) odometry error correction). Primaries: project page; arXiv 2506.08931. Institutions: BIT + BIGAI + PKU (authors equal-contribute Yixuan Li, Yutang Lin; corresponding Wei Liang, Yixin Zhu, Siyuan Huang) - **Input / hardware:** [Operator](/companies/ultra-robotics.md) input is head position plus dual-wrist 6D pose from a commercial MR headset (Apple Vision Pro). Real-world demos on [Unitree G1](/models/unitree-g1.md); authors acknowledge [Unitree Robotics](/companies/unitree-robotics.md) hardware support. Not a commercial product; research [teleoperation](/glossary/teleoperation.md) system - **Reported tracking (paper):** Paper reports ~5.1 cm mean straight-path global tracking error (max 12 cm) over 8.9 m trajectories, and long-horizon mixed navigation spanning >15 m with return to start and minimal drift. Cap: author-reported experimental results on project page / arXiv, not independently reproduced - **Openness:** Early real-world deployment checkpoints and deploy docs released (project README, Jul 2025 news). Training code, evaluation code, and enhanced checkpoints still pending. License noted as CC BY-NC 4.0 on the project [GitHub](/companies/github.md). isOpen=false until full training release is confirmed - **Thin-record note:** Unreviewed research stub. Academic multi-lab system (BIT/BIGAI/PKU); no registry Company developers attached (labs are not registry Companies). CoRL 2025 venue noted on project materials; deepen architecture / dataset / hardware wiring on a later reviewed pass - **CLONED motion dataset:** The project page says CLONE trains on a curated CLONED set built by editing a subset of AMASS and adding sampled hand orientations plus further motion capture (CLONE). - **Closed-loop sensing stack:** The project page says real-world deployment uses [LiDAR](/glossary/lidar.md) odometry for humanoid state and Apple Vision Pro tracking so the policy can correct global-pose drift (CLONE). ## Sources (2) 1. **CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks (project page)** · https://humanoid-clone.github.io/ · 2025-06 2. **CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks (arXiv 2506.08931)** · https://arxiv.org/abs/2506.08931 · 2025-06-10 ## Common questions ### What is CLONE? CLONE is a closed-loop whole-body humanoid [teleoperation](/glossary/teleoperation.md) system from Beijing Institute of Technology (BIT), Beijing Institute for General Artificial Intelligence (BIGAI), and [Peking University](/companies/peking-university-robotics.md) (PKU). It uses a Mixture-of-Experts (MoE) student policy with LiDAR-odometry error correction so an operator can drive coordinated upper- and lower-body motion from only head and wrist tracking on a commercial MR headset (Apple Vision Pro). The project page and arXiv 2506.08931 report real-world [Unitree G1](/models/unitree-g1.md) demos including ground pick-and-place, table tennis strokes, and long-horizon navigation with about 5.1 cm mean straight-path tracking error over 8.9 m. Early deployment checkpoints are released; training and evaluation code remain pending per the project README. Recorded as an unreviewed research-model stub pending deeper editorial pass. ### Is CLONE open source? No. CLONE is recorded as proprietary on the DEPLOY registry. Model weights and source are not publicly available. ### What type of AI is CLONE? CLONE is a research model, built on a MoE student policy (3 layers x 4 experts, top-2 routing) distilled from a privileged teacher; closed-loop global pose via [LiDAR](/glossary/lidar.md) odometry (FAST-LIO2) plus Apple Vision Pro operator tracking; trained on augmented AMASS subset (CLONED) with hand-orientation augmentation. Builds on OmniH2O-style teacher-student teleop. architecture on the DEPLOY registry. ### What is CLONE's maturity stage? CLONE is at the research stage on the DEPLOY maturity ladder. Research stage means active development without commercial deployments on file. ### Which robots run on CLONE? No robot models on the DEPLOY registry are recorded as running CLONE. DEPLOY wires brain-to-model connections only when the wiring is verifiable from primary sources; absence may reflect pre-deployment or unverified manufacturer claims. _API: GET /v1/brains/79ebdcaa-5443-43e7-a33b-3e447eba5392 · canonical URL: /brains/clone_