HOMIE

A 2025 Shanghai AI Lab humanoid teleoperation system that controls the whole body with an exoskeleton, gloves, and foot pedals.

HOMIE was released in February 2025 by Shanghai AI Lab together with the Chinese University of Hong Kong (Jiangmiao Pang and Dahua Lin's groups), published at RSS 2025, and fully open-sourced as OpenHomie. A humanoid needs to walk and work with its hands at the same time (loco-manipulation), which makes it hard to control both halves of the body at once during teleoperation. HOMIE is a semi-autonomous solution: the lower body runs a reinforcement-learning policy that walks, turns, and crouches to a commanded height on instruction, while adapting to whatever pose the upper body is in (trained with an upper-body pose curriculum, a height-tracking reward, and left-right symmetry); the operator gives movement commands with foot pedals, wears an exoskeleton isomorphic to the robot's arms (joints correspond one to one, so the read-out angles serve directly as commands, with no inverse kinematics needed), and controls the dexterous hands with Hall-sensor motion-sensing gloves. The whole hardware setup costs about $500; policies were trained in Isaac Gym for both the Unitree G1 and the Fourier GR-1, with real-robot experiments done on the G1.

ExampleFor example, the operator presses pedals to walk the robot to a table and crouch down, while using the exoskeleton arms and gloves to control both hands to pick something up; the authors report task completion time about half that of previous systems.

Also called

OpenHomie, Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit

Related

Exoskeleton Teleoperation · Loco-manipulation · Whole-Body Teleoperation · Data Glove · Unitree G1 · Shanghai Artificial Intelligence Laboratory

Sources

HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit (arXiv 2502.13013)
HOMIE 项目页 (Chinese)

As of

2025-06