Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

We present a real-time upper-body human-to-humanoid motion imitation framework driven by neuromorphic event-based vision. This work addresses practical perceptual bottlenecks of conventional frame-based RGB sensors, specifically their difficulty in high dynamic range (HDR) scenes and rapid motions due to fixed integration times. By leveraging the Prophesee EVK4 event camera, which operates asynchronously with high temporal resolution and a dynamic range exceeding 120 dB, our system supports stable tracking in conditions where standard vision pipelines degrade, such as severe backlighting and very low light environments below 5 lux. The architecture integrates a low-latency Perception Module, utilizing optimized event accumulation and gravity-aligned inertial fusion, with a causal Motion Module (TWIST) that performs online kinematic retargeting. We validate the system on an embedded NVIDIA Booster T1 platform and an 18-DoF humanoid upper-body setup, demonstrating an end-to-end photon-to-action latency of 23-34 ms and advantages over RGB baselines under our experimental setup. The results indicate a practical trade-off: events can be preferable for fast or poorly lit upper-body teleoperation, whereas well-lit static scenes may favor RGB or hybrid sensing.

Links and sources

• Official / arXiv page
• PDF from original source

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