Beyond Retargeting: Low-Latency and Robust Humanoid Whole-Body Teleoperation with Learned Atomic Motion Primitives

Humanoid whole-body teleoperation translates human motion into stable robot behavior in real time. Existing systems typically rely on online motion retargeting to bridge human--robot morphological differences, but this process adds latency and can produce physically infeasible targets. Meanwhile, diverse, noisy, and partial human-motion observations often fall outside the training distribution, potentially causing unstable robot behavior. We propose a retargeting-free policy that maps raw human motion directly to robot joint commands in a single forward pass, eliminating online kinematic adaptation. To improve robustness, we learn a codebook of full-body motion primitives that projects out-of-distribution observations onto plausible motion prototypes and recovers full-body motion from partial inputs. Experiments on a Unitree~G1 in simulation and on hardware, using virtual reality, optical mocap, text-to-motion generation, and monocular video inputs, show that our method outperforms baselines in latency and robustness.