{"paper":{"title":"X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andrea Tagliabue, Jen-Wei Wang, Nicholas Morozovsky, Sarthak Kaingade","submitted_at":"2026-06-06T01:50:59Z","abstract_excerpt":"Whole-body teleoperation is essential for scalable robot data collection in loco-manipulation tasks, yet existing approaches relying on exoskeleton suits or multi-camera setups impose prohibitive cost, complexity, and environmental constraints. Recent methods using a single extended reality (XR) device with end-to-end reinforcement learning policies partially address these limitations but require robot-specific retraining, suffer from out-of-distribution failures, and rely on motion retargeting that neglects dynamic feasibility. We propose a hierarchical whole-body teleoperation framework driv"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.07934","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.07934/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}