TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
Large-scale data has driven breakthroughs in robotics, from language models
to vision-language-action models in bimanual manipulation. However, humanoid
robotics lacks equally effective data collection frameworks. Existing humanoid
teleoperation systems either use decoupled control or depend on expensive
motion capture setups. We introduce TWIST2, a portable, mocap-free humanoid
teleoperation and data collection system that preserves full whole-body control
while advancing scalability. Our system leverages PICO4U VR for obtaining
real-time whole-body human motions, with a custom 2-DoF robot neck (cost around
$250) for egocentric vision, enabling holistic human-to-humanoid control. We
demonstrate long-horizon dexterous and mobile humanoid skills and we can
collect 100 demonstrations in 15 minutes with an almost 100% success rate.
Building on this pipeline, we propose a hierarchical visuomotor policy
framework that autonomously controls the full humanoid body based on egocentric
vision. Our visuomotor policy successfully demonstrates whole-body dexterous
manipulation and dynamic kicking tasks. The entire system is fully reproducible
and open-sourced at https://yanjieze.com/TWIST2 . Our collected dataset is also
open-sourced at https://twist-data.github.io .
690abfa3d70e173c84528fe6
Yanjie Ze
claimed_verified
2025-11-06T11:48:31.050Z
63509bc859bfa9a85d4220aa
/avatars/ca2cc9b87f5ca5cd51606b2f9edf89d0.svg
Yanjie Ze
yjze
user
yjze
690abfa3d70e173c84528fe7
Siheng Zhao
690abfa3d70e173c84528fe8
Weizhuo Wang
690abfa3d70e173c84528fe9
Angjoo Kanazawa
690abfa3d70e173c84528fea
Rocky Duan
690abfa3d70e173c84528feb
Pieter Abbeel
690abfa3d70e173c84528fec
Guanya Shi
690abfa3d70e173c84528fed
Jiajun Wu
690abfa3d70e173c84528fee
C. Karen Liu
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
Large-scale data has driven breakthroughs in robotics, from language models
to vision-language-action models in bimanual manipulation. However, humanoid
robotics lacks equally effective data collection frameworks. Existing humanoid
teleoperation systems either use decoupled control or depend on expensive
motion capture setups. We introduce TWIST2, a portable, mocap-free humanoid
teleoperation and data collection system that preserves full whole-body control
while advancing scalability. Our system leverages PICO4U VR for obtaining
real-time whole-body human motions, with a custom 2-DoF robot neck (cost around
$250) for egocentric vision, enabling holistic human-to-humanoid control. We
demonstrate long-horizon dexterous and mobile humanoid skills and we can
collect 100 demonstrations in 15 minutes with an almost 100% success rate.
Building on this pipeline, we propose a hierarchical visuomotor policy
framework that autonomously controls the full humanoid body based on egocentric
vision. Our visuomotor policy successfully demonstrates whole-body dexterous
manipulation and dynamic kicking tasks. The entire system is fully reproducible
and open-sourced at https://yanjieze.com/TWIST2 . Our collected dataset is also
open-sourced at https://twist-data.github.io .
TWIST2, a portable mocap-free system, enables efficient data collection and hierarchical visuomotor policy control for humanoid robots.
humanoid teleoperation PICO4U VR egocentric vision hierarchical visuomotor policy whole-body control dexterous manipulation dynamic kicking tasks