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TeleGate: Whole-Body Humanoid Teleoperation via Gated Expert Selection with Motion Prior
Description
Real-time whole-body teleoperation is a critical method for humanoid robots to perform complex tasks in unstructured environments. However, developing a unified controller that robustly supports diverse human motions remains a significant challenge. Existing methods typically distill multiple expert policies into a single general policy, which often inevitably leads to performance degradation, particularly on highly dynamic motions. This paper presents TeleGate, a unified whole-body teleoperatio