Author

Zhao-Peng Chen

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Preprint Sep 2026

Gated Residual Body-Hand Coordination for Whole-Body Humanoid Teleoperation

This work presents a gated residual coordination framework that keeps both modules frozen and applies bounded corrections to their outputs, and describes the contributions of reward gating, adaptive correction authority, and separate body and hand correction heads.

Rui Wu, Shuang Li, Li-Ding Zhang et al. · 1 citation