Robot Teleoperation

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Robot teleoperation lets a human guide a distant robot when direct access is unsafe, impractical, or impossible, from surgery and space operations to mobile and dexterous manipulation. Interfaces include joysticks, leader arms, gloves, exoskeletons, and VR or augmented reality, while visual, tactile, and force feedback help operators judge contact and motion. Shared autonomy, motion retargeting, predictive control, and learned policies can reduce workload, avoid collisions, and turn demonstrations into training data for robot learning. A central challenge is balancing responsive, intuitive control with stability and safety under network delay, limited sensing, and mismatches between human and robot bodies; broader real-world and clinical validation remains important.

Latest papers

207 papers34 papers in the last four weeks, up 26% on the four weeks before. 0.2% of all new papers.

Seeing Through Occlusion: Deterministic Arm Kinematic Correction for Robot Teleoperation
Jun 17, 2026Thomas M. Kwok, Nicholas Koenig, Yue HuMarkerless Motion Capture Depth Estimation
Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada
HATS: A Human-Agent Teleoperation System for Multi-Arm Data Collection
Jun 15, 2026Zesen Lin, Jian-Jian Jiang, Haoming Cen +3Robotic Data Collection Robot Teleoperation
School of Computer Science and Engineering, Sun Yat-sen University, China · 2Nanyang Technological University, Singapore · 3Imperial College London, UK
SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA
Jun 14, 2026Crystal Zhou, Jehan Yang, Douglas J. Weber +1Robot Teleoperation Robotic Manipulation
Carnegie Mellon University Pittsburgh, PA, USA
A Bilateral Teleoperation Framework for Dexterous Manipulation
Jun 13, 2026Stefano Dalla Gasperina, Dong Ho Kang, Haiyun Zhang +10Dexterous Manipulation Contact-Rich Robotic Manipulation
The University of Texas at Austin, Austin, TX, USA · Sony Group Corporation, Tokyo, Japan · Meta Reality Labs Research, Redmond, WA, USA
Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback
Jun 12, 2026Litian Liang, Jingxi Xu, Xinda Qi +7Long-Horizon Robotic Manipulation Robot Teleoperation
1Ant Group · 2Stanford University
The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation
Jun 12, 2026Yao-Ting Huang, Jake Honma, Omar Hernandez +4Contact-Rich Robotic Manipulation Robot Teleoperation
Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093, USA. · Mechanical and Aerospace Engineering, University of California San Diego, La Jolla, CA 92093, USA. · Bioengineering, University of California San Diego, La Jolla, CA 92093, USA.
FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning
Jun 10, 2026Steven Oh, Jason Jingzhou Liu, Tony Tao +5Robot Imitation Learning Long-Horizon Robotic Manipulation
Carnegie Mellon University · Waseda University
YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale
Jun 8, 2026Takehiko Ohkawa, Jumpei Arima, Yuki Noguchi +16Dexterous Manipulation Robot Manipulation Datasets
1AI Robot Association (AIRoA) · 2Toyota Motor Corporation · 4The University of Tokyo +5
Real-Time and Accurate Collision-Free Teleoperation via Differentiable Constraint-Based Trajectory Planning
Jun 7, 2026Max Grobbel, Tristan Schneider, Daniel Flögel +1Collision Avoidance Constrained Motion Planning
FZI - Forschungszentrum Informatik, Karlsruhe, Germany · Department of Electrical Engineering, Karlsruhe Institute of Technology, Karlsruhe, Germany
Uncertainty-Aware Action Segmentation for Human-to-Robot Assembly Teleoperation
Jun 6, 2026Fnu Heman, Yixuan Wang, Kolin Xu +7Temporal Action Segmentation Robot Teleoperation
Mechanical Engineering, University of California, Riverside, CA, USA. · Electrical and Computer Engineering, University of Miami, FL, USA.
Cybernetic Android Avatar "Yui": System Integration, Field Deployment, and Evaluation
Jun 6, 2026Kaoruko Shinkawa, Mizuki Nakajima, Taisei Mogi +1Robot Teleoperation Robotics
Department of Mechanical and Intelligent Systems Engineering, Graduate School of Informatics and Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, 182-8585, Tokyo, Japan. · Department of Mechanical Engineering, Graduate School of Engineering, Tokyo Denki University, 5 Senjuasahicho, Adachi-ku, 120-8551, Tokyo, Japan.
X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting
Jun 6, 2026Jen-Wei Wang, Sarthak Kaingade, Andrea Tagliabue +1Robot Teleoperation Whole-Body Robotic Manipulation
Amazon · University of California, Berkeley
A Multi-Operator Mixed-Reality Interface for Multi-Robot Control and Coordination: Co-Located and Private Workspace Collaboration
Jun 5, 2026Omotoye Shamsudeen Adekoya, Antonio Sgorbissa, Carmine Tommaso RecchiutoRobot Teleoperation Multi-Robot Coordination
DIBRIS Department, RICE Laboratory, University of Genoa, Italy
RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning
Jun 4, 2026Chaoyi Xu, Yixuan Jiang, Jiahui Huan +7Dexterous Manipulation In-Hand Manipulation
Peking University · BeingBeyond · Beihang University +2
HapTile: A Haptic-Informed Vision-Tactile-Language-Action Dataset for Contact-Rich Imitation Learning
Jun 3, 2026Amirhosein Alian, Yongqiang Zhao, Shiyi Gu +5Contact-Rich Robotic Manipulation Robot Teleoperation
King’s College London, UK · Huawei, Noah’s Ark Lab, UK · University College London, UK
Selecting haptic guidance models in teleoperation: guidelines from a comparative user study
Jun 2, 2026Alexis Boulay, Margot Vulliez, David DaneyRobot Teleoperation Haptic Feedback
AUCTUS · Farm3, Besançon, France · Auctus Team, Inria, Talence, France
A study on a Real-Time VR-Based Teleoperation Framework for Manipulator in Dynamic Environment
May 29, 2026InGyu Choi, GeonYeong Go, SunWoo Ahn +2Robot Teleoperation Dynamic Obstacle Avoidance
Department of Robotics, Hanyang University · Department of Smart Construction Engineering, Hanyang University · Department of Interdisciplinary Robot Engineering Systems, Hanyang University +1
A Digital Twin Framework for Virtual Visuo-Haptic Teleoperation of Complex-Shaped Optical Microrobots
May 27, 2026Zongcai Tan, Lan Wei, Dandan ZhangRobot Teleoperation Robotics
Department of Bioengineering, Imperial-X AI Initiative, Imperial College London, London, United Kingdom
How Should We Teach Robots? A Comparison of Kinesthetic, Joystick, and Gesture-Based Teaching
May 27, 2026Petr Vanc, Jan Kristof Behrens, Václav Hlaváč +1Robot Teleoperation Robotic Manipulation
Czech Institute of Informatics, Robotics and Cybernetics (CIIRC CTU) Jugoslávských partyzánů 1580/3, 160 00 Dejvice
VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction
May 26, 2026René Zurbrügg, Tifanny Portela, Arjun Bhardwaj +3Robotic Data Collection Robot Teleoperation
The Authors are with the Robotics Systems Lab ETH Zürich.
Closing the Loop in Teleoperation: Episode-Level Data Quality Assessment and Feedback for High-Quality Demonstration Collection
May 25, 2026Gokul Narayanan, Yash Shahapurkar, Melih Erdogan +2Robot Teleoperation Learning from Demonstration
are with Siemens Corporation.
6G Communication Networks Enabling Embodied Agents: Architecture and Prototype
May 22, 2026Lipeng Dai, Luping Xiang, Kun Yang6G Networks Robot Teleoperation
State Key Laboratory of Novel Software Technology, Nanjing University, Nanjing, 210008, China · Institute of Intelligent Networks and Communications (NINE), Nanjing University (Suzhou Campus), Suzhou, 215163, China
Remote Teleoperation of Endovascular Intervention Robots: A Systematic Review
May 21, 2026Xingyu Chen, Yinchao Yang, Nikola Fischer +5Robot Teleoperation Robotic Endovascular Intervention
School of Biomedical Engineering & Imaging Sciences, King’s College London, WC2R 2LS London, U.K. · Department of Engineering, King’s College London, WC2R 2LS London, U.K. · Department of Neuroradiology, King’s College Hospital, SE5 9RS London, U.K.
Flying Together: Human-Guided Immersive Shared Control for Aerial Robot Teams in Unknown Environments
May 20, 2026Lou De Bel-Air, Luca Morando, Ruitao Chen +7Multi-Robot Motion Planning Aerial Robotics
New York University, NY 10012, USA · Ecole Polytechnique Federale de Lausanne, Station 9 CH-1015 Lausanne, Switzerland · University of California Berkeley, Department of Electrical Engineering and Computer Sciences, Berkeley, CA 94720, USA
HITL-D: Human In The Loop Diffusion Assisted Shared Control
May 20, 2026Riley Zilka, Sergey Khlynovskiy, Allie Wang +1Robot Teleoperation Diffusion Policy
Department of Computing Science, University of Alberta, Edmonton Alberta, Canada, T6G 2E8
Multi-Week, In-Class Deployments of Telepresence Robots With Four Homebound K-12 Students: Benefits, Challenges, and Recommendations
May 19, 2026Matthew Rueben, Rhianna Lee, Thomas R. Groechel +4Educational Technology Robot Teleoperation
Department of Computer Science, University of Southern California, Los Angeles, CA, USA. · Los Angeles, CA, USA. · Colby College, Waterville, ME, USA. +1
Domain-Adaptive Communication-Rate Optimization for Sim-to-Real Humanoid-Robot Wireless XR Teleoperation
May 19, 2026Caolu Xu, Zhiyong Chen, Meixia Tao +3Synthetic-to-Real Domain Adaptation Domain Adaptation
Cooperative Medianet Innovation Center, the School of Information Science and Electronic Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing
May 19, 2026Yue Feng, Weicheng Huang, I-Ming ChenAdmittance Control Robot Teleoperation
Robotics Research Centre Nanyang Technological University Singapore · WinGs Robotic USA
COBALT: Crowdsourcing Robot Learning via Cloud-Based Teleoperation with Smartphones
May 18, 2026Ayush Agarwal, Ansh Gandhi, Jeremy A. Collins +6Robot Skill Learning Robotic Data Collection
Georgia Institute of Technology · University of California, Berkeley · New York University Abu Dhabi (NYUAD) +2
Driving Through the Network: Performance and Workload Under Latency and Video Impairment
May 15, 2026Ines Trautmannsheimer, Ahmed Azab, Frank DiermeyerRobot Teleoperation
Technical University of Munich, School of Engineering and Design, Institute of Automotive Technology and Munich Institute of Robotics and Machine Intelligence (MIRMI), 85748 Munich, Germany

Jun 17, 2026J/K move · Enter open · S save

Seeing Through Occlusion: Deterministic Arm Kinematic Correction for Robot Teleoperation

Thomas M. Kwok, Nicholas Koenig, Yue Hu

Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada

Markerless Motion Capture Depth Estimation Robot Teleoperation 3D Human Pose Estimation

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Markerless, single-RGB-D-camera motion capture provides a low-cost and non-invasive alternative to conventional marker-based systems for robot teleoperation; however, depth estimation often degrades in the presence of self-occlusion, particularly during upper-limb motion. This paper presents an Arm Kinematic Correction (AKC) method that improves depth estimation by enforcing geometric constraints based on constant arm lengths. The proposed approach reconstructs occluded joint depths by leveraging wrist positions and predefined arm lengths via a deterministic formulation based on the Pythagorean theorem, thereby avoiding the need for complex probabilistic modeling or parameter tuning. Experimental validation against a Vicon reference system demonstrates reliable performance for both static and dynamic joint motions, evaluated using root-mean-square error (RMSE) and Pearson correlation. Furthermore, motion-mapping teleoperation is successfully demonstrated in both simulated and physical robot environments. The results show that AKC enhances robustness and preserves anatomical consistency under long-duration, severe self-occlusion, even when paired with less reliable temporal filters, highlighting its practicality for real-time applications such as robot teleoperation and human-robot interaction.