{"id":"79ebdcaa-5443-43e7-a33b-3e447eba5392","slug":"clone","name":"CLONE","description":"CLONE is a closed-loop whole-body humanoid teleoperation system from Beijing Institute of Technology (BIT), Beijing Institute for General Artificial Intelligence (BIGAI), and Peking University (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 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.","brainType":"research-model","isOpen":false,"maturityStage":"research","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.","reviewStatus":"reviewed","sources":[{"url":"https://humanoid-clone.github.io/","title":"CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks (project page)","sourceName":"CLONE project page","publishedAt":"2025-06"},{"url":"https://arxiv.org/abs/2506.08931","title":"CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks (arXiv 2506.08931)","sourceName":"arXiv","publishedAt":"2025-06-10"}],"keyFacts":[{"label":"What it is","value":"Closed-loop whole-body humanoid teleoperation policy (MoE student + LiDAR 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)"},{"label":"Input / hardware","value":"Operator input is head position plus dual-wrist 6D pose from a commercial MR headset (Apple Vision Pro). Real-world demos on Unitree G1; authors acknowledge Unitree Robotics hardware support. Not a commercial product; research teleoperation system"},{"label":"Reported tracking (paper)","value":"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"},{"label":"Openness","value":"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. isOpen=false until full training release is confirmed"},{"label":"Thin-record note","value":"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"},{"label":"CLONED motion dataset","value":"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)."},{"label":"Closed-loop sensing stack","value":"The project page says real-world deployment uses LiDAR odometry for humanoid state and Apple Vision Pro tracking so the policy can correct global-pose drift (CLONE)."}],"aliases":["CLONE","humanoid-clone","CLONE teleop","Closed-Loop Whole-Body Humanoid Teleoperation"],"collisionRisk":"low","reviewNote":null,"builtOnBrainId":null,"createdAt":"2026-10-02T02:02:34.244Z","updatedAt":"2026-10-09T22:00:37.408Z","jsonLd":{"@context":"https://schema.org","@type":"SoftwareApplication","@id":"https://registry.deploy.report/brains/clone","url":"https://registry.deploy.report/brains/clone","name":"CLONE","alternateName":["CLONE","humanoid-clone","CLONE teleop","Closed-Loop Whole-Body Humanoid Teleoperation"],"description":"CLONE is a closed-loop whole-body humanoid teleoperation system from Beijing Institute of Technology (BIT), Beijing Institute for General Artificial Intelligence (BIGAI), and Peking University (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 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.","identifier":"79ebdcaa-5443-43e7-a33b-3e447eba5392","applicationCategory":"research-model","publisher":{"@id":"https://deploy.report/#organization"}},"framework_metadata":{"framework_schema_version":"0.1.0","verification_status":"verified","maturity_stage":"research","lifecycle_state":null,"architectural_position":{"cohort":null,"sub_cohorts":[]},"within_cohort_verified_vs_claimed_pair":null,"cap_flags":[],"verification_depth":{"sources_count":2,"primary_source_types":["preprint"]}}}