Robot Teleoperation

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21 papers in the last four weeks, up 250% on the four weeks before. 0.2% of all new papers.

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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
Residual Reinforcement Learning for Robot Teleoperation under Stochastic Delays
May 14, 2026Kaize Deng, Zewen YangRobotic Control RL Control
Technical University of Munich, 80333 Munich, Germany
Beyond VMAF: Towards Application-Specific Metrics for Teleoperation Video
May 13, 2026Ines Trautmannsheimer, Richard Grauberger, Frank DiermeyerRobot Teleoperation Video Quality Assessment
Chair of Automotive Technology Technical University of Munich Munich, Germany
Real-Time Whole-Body Teleoperation of a Humanoid Robot Using IMU-Based Motion Capture with Sim2Sim and Sim2Real Validation
May 12, 2026Hamza Ahmed Durrani, Suleman KhanRobot Teleoperation Humanoid Robot Control
WeGo Robotics
DexTwist: Dexterous Hand Retargeting for Twist Motion via Mixed Reality-based Teleoperation
May 12, 2026Dongmyoung Lee, Chengxi Li, Dongheui LeeDexterous Manipulation Contact-Rich Robotic Manipulation
Autonomous Systems Lab, Institute of Computer Technology, TU Wien, Vienna, Austria. · Institute of Robotics and Mechatronics (DLR), German Aerospace Center, Wessling, Germany.
Towards Generative Predictive Display for Vision-Based Teleoperation: A Zero-Shot Benchmark of Off-the-Shelf Video Models
May 10, 2026Aws Khalil, Jaerock KwonVideo Diffusion Models Robot Teleoperation
Department of Electrical and Computer Engineering, University of Michigan - Dearborn, Dearborn, MI, USA
VISTA: A Benchmark for Real-Time Video Streaming under Network Impairments in Surgical Teleoperation
May 9, 2026Zexin Deng, Zhenhui Yuan, Tian Lu +3Robot Teleoperation Video Quality Assessment
Institute for Applied and Translational Technologies in Surgery, University Hospitals Coventry & Warwickshire NHS Trust, UK · College of Control Science and Engineering and the State Key Laboratory of Industrial Control Technology, Zhejiang University, China · South China University of Technology, Guangzhou 511442, China +1
Intention assimilation control for accurate tracking with variable impedance in teleoperation
May 7, 2026Atsushi Takagi, Yanan Li, Hiroaki Gomi +1Robot Trajectory Tracking Robot Teleoperation
AssistDLO: Assistive Teleoperation for Deformable Linear Object Manipulation
May 7, 2026Berk Guler, Simon Manschitz, Kay Pompetzki +1Bimanual Robotic Manipulation Deformable Object Manipulation
TU Darmstadt, Institute for Intelligent Autonomous Systems, Computer Science Department, 64289 Darmstadt, Germany · Honda Research Institute Europe GmbH, Carl-Legien-Straße 30, 63073 Offenbach/Main, Germany · German Research Center for AI (DFKI), Research Department: Systems AI for Robot Learning; Hessian.AI; Robotics Institute Germany (RIG); Centre for Cognitive Science, Hochschulstr. 10, 64293 Darmstadt, Germany
Shared Autonomy Assisted by Impedance-Driven Anisotropic Guidance Field
May 4, 2026Sihan Chen, Hang Xu, Yupu Lu +4Robot Teleoperation Shared Autonomy
School of Computing and Data Science, The University of Hong Kong, Hong Kong, China · School of Engineering, Nanjing University of Information Science and Technology, Nanjing, China
Phone2Act: A Low-Cost, Hardware-Agnostic Teleoperation System for Scalable VLA Data Collection
May 3, 2026Om Mandhane, Bipin Yadav, Sangeetha Prasanna Ram +1Robotic Data Collection Robot Teleoperation
Dept. of Automation & Robotics Engineering, Vivekanand Education Society’s Institute of Technology (VESIT), Mumbai, India.
DEX-Mouse: A Low-cost Portable and Universal Interface with Force Feedback for Data Collection of Dexterous Robotic Hands
Apr 16, 2026Joonho Koh, Haechan Jung, Nayoung Kim +2Dexterous Manipulation Robotic Data Collection
Dept. of Artificial Intelligence, Sogang University, Korea · Dept. of Electronic Engineering, Sogang University, Korea · Dept. of Mechanical Engineering, Sogang University, Korea +1
Visualizing Impedance Control in Augmented Reality for Teleoperation: Design and User Evaluation
Mar 26, 2026Gijs van den Brandt, Femke van Beek, Elena TortaBimanual Robotic Manipulation Contact-Rich Robotic Manipulation
Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands
TriPilot-FF: Coordinated Whole-Body Teleoperation with Force Feedback
Feb 10, 2026Zihao Li, Yanan Zhou, Ranpeng Qiu +3Bimanual Robotic Manipulation Robot Teleoperation
Zeno AI · Zhejiang University · University of Sydney
Mind the Gap: Rethinking I/O Design for Contact-Rich Visuomotor Policy Learning
Feb 9, 2026Cuijie Xu, Shurui Zheng, Zihao Su +7Contact-Rich Robotic Manipulation Robot Teleoperation
Department of Electronic Engineering, Tsinghua University · Qiuzhen College, Tsinghua University · School of Mechanical and Aerospace Engineering, Jilin University +2
MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
Nov 29, 2025Jinda Du, Jieji Ren, Qiaojun Yu +6Robotic Hand Design Dexterous Manipulation
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. · Shanghai Key Laboratory of Intelligent Robotics, Shanghai Jiao Tong University, Shanghai 200240, China. · Shanghai Artificial Intelligence Laboratory, Shanghai, China. +1
Stability Boundaries and Motor Performance in Delayed Robot-Mediated Dyadic Interactions
Oct 16, 2025Mingtian Du, Suhas Raghavendra Kulkarni, Simone Kager +2Robot Teleoperation Feedback Control
Robotics Research Centre, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798 · Department of Computer Science and Artificial Intelligence, University of Technology Nuremberg, Germany 90461
LapSurgie: Humanoid Robots Performing Surgery via Teleoperated Handheld Laparoscopy
Oct 3, 2025Zekai Liang, Xiao Liang, Soofiyan Atar +7Robotic Control Robot Teleoperation
Department of Electrical and Computer Engineering, University of California San Diego, La Jolla, CA 92093 USA. · School of Electrical and Computer Engineering, Cornell University, Ithaca, NY 14853 USA. · UC San Diego Health, La Jolla, CA 92037 USA.
Robust Immersive Bilateral Teleoperation of Beyond-Human-Scale Systems with Enhanced Transparency and Sense of Embodiment
May 20, 2025Mahdi Hejrati, Pauli Mustalahti, Jouni MattilaRobot Teleoperation Robust Control
Department of Engineering and Natural Sciences, Tampere University, Tampere, Finland

May 26, 2026, cs.ROJ/K move · Enter open · S save

VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction

René Zurbrügg, Tifanny Portela, Arjun Bhardwaj, Aravind Elanjimattathil Vijayan+2

The Authors are with the Robotics Systems Lab ETH Zürich.

Robotic Data Collection Robot Teleoperation Robotic Manipulation Adaptive Sampling Robot Imitation Learning Dataset Aggregation

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Learning from demonstrations is effective for robotic manipulation, but collecting sufficient task-specific data remains a major bottleneck. Under distribution shift, small errors compound, performance degrades, and expert time is often spent on redundant, low-value corrections instead of the few critical failure cases. We present VR-DAgger, a human-in-the-loop framework centered on an immersive VR application for dexterous teleoperation, demonstration collection, and selective policy correction. The VR client provides intuitive hand control with synchronized scene visualization, while a backend workstation runs simulation and learning, enabling autonomous rollouts without continuous operator oversight. We use Monte Carlo (MC) dropout to score uncertainty during Isaac Lab rollouts of a diffusion policy and select informative failure segments for correction. These segments are replayed in VR as clips, where the operator selectively labels and corrects the policy's behavior, concentrating supervision where uncertainty is highest without full-rollout monitoring or a separate intervention classifier. We evaluate on three dexterous manipulation tasks (Pan pick-and-place, Drawer opening, Valve turning) with a 10-DoF XHand under standard and challenging initial configurations. Active labeling consistently improves over behavioral cloning across all tasks, with gains of up to 23 percentage points. Compared to unguided human-in-the-loop inspection, VR-DAgger reduces per-sample collection time by approximately 40% by focusing review on selected segments rather than full rollouts.

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