OmniClone: Engineering a Robust, All-Rounder Whole-Body Humanoid Teleoperation System

TL;DR

OmniClone is a versatile, robust humanoid teleoperation system that uses diagnostic benchmarks and system-level improvements to achieve high-fidelity control with minimal computational resources, supporting multiple control sources and operators.

Contribution

The paper introduces OmniClone, a unified humanoid teleoperation system with diagnostic evaluation, optimized training, and system enhancements, enabling robust, multi-skill control on consumer hardware.

Findings

Reduced Mean Per-Joint Position Error by over 66%

Supports real-time control, motion playback, and vision-language models

Generalizes across operators with different body proportions

Abstract

Whole-body humanoid teleoperation enables humans to remotely control humanoid robots, serving as both a real-time operational tool and a scalable engine for collecting demonstrations for autonomous learning. Despite recent advances, existing systems are validated using aggregate metrics that conflate distinct motion regimes, masking critical failure modes. This lack of diagnostic granularity, compounded by tightly coupled and labor-intensive system configurations, hinders robust real-world deployment. A key open challenge is building a teleoperation system that is simultaneously robust, versatile, and affordable for practical use. Here we present OmniClone, a whole-body humanoid teleoperation system that achieves high-fidelity, multi-skill control on a single consumer GPU with modest data requirements. Central to our approach is OmniBench, a diagnostic benchmark that evaluates policies across stratified motion categories and difficulty levels on unseen motions, exposing the narrow specialization of prior systems. Guided by these diagnostics, we identify an optimized training data recipe and integrate system-level improvements: subject-agnostic retargeting and robust communication, that collectively reduce Mean Per-Joint Position Error (MPJPE) by over 66% while requiring orders-of-magnitude fewer computational resources than comparable methods. Crucially, OmniClone is control-source-agnostic: a single unified policy supports real-time teleoperation, generated motion playback, and Vision-Language-Action (VLA) models, while generalizing across operators of vastly different body proportions. By uniting diagnostic evaluation with practical engineering, OmniClone provides an accessible foundation for scalable humanoid teleoperation and autonomous learning.