# DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System

arXiv: https://arxiv.org/abs/1910.03135 · HTML: https://mlsanity.com/paper/1910.03135/

## Key facts

- Cited by 114 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Oct 2019.

## Built on by (most cited first, 30 of 114)

- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [HOI4D: A 4D Egocentric Dataset for Category-Level Human-Object Interaction](https://mlsanity.com/paper/2203.01577/) (2022)
- [DexYCB: A Benchmark for Capturing Hand Grasping of Objects](https://mlsanity.com/paper/2104.04631/) (2021)
- [Masked Visual Pre-training for Motor Control](https://mlsanity.com/paper/2203.06173/) (2022)
- [DexMV: Imitation Learning for Dexterous Manipulation from Human Videos](https://mlsanity.com/paper/2108.05877/) (2021)
- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation](https://mlsanity.com/paper/2412.13877/) (2024)
- [DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation](https://mlsanity.com/paper/2403.07788/) (2024)
- [AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](https://mlsanity.com/paper/2307.04577/) (2023)
- [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://mlsanity.com/paper/2407.01512/) (2024)
- [Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Time](https://mlsanity.com/paper/2106.05266/) (2021)
- [OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interaction](https://mlsanity.com/paper/2203.15709/) (2022)
- [3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations](https://mlsanity.com/paper/2403.03954/) (2024)
- [VideoDex: Learning Dexterity from Internet Videos](https://mlsanity.com/paper/2212.04498/) (2022)
- [State-Only Imitation Learning for Dexterous Manipulation](https://mlsanity.com/paper/2004.04650/) (2020)
- [DexVIP: Learning Dexterous Grasping with Human Hand Pose Priors from Video](https://mlsanity.com/paper/2202.00164/) (2022)
- [DexGraspVLA: A Vision-Language-Action Framework Towards General Dexterous Grasping](https://mlsanity.com/paper/2502.20900/) (2025)
- [Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtube](https://mlsanity.com/paper/2202.10448/) (2022)
- [From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation](https://mlsanity.com/paper/2204.12490/) (2022)
- [OAKINK2: A Dataset of Bimanual Hands-Object Manipulation in Complex Task Completion](https://mlsanity.com/paper/2403.19417/) (2024)
- [LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning](https://mlsanity.com/paper/2309.06440/) (2023)
- [Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulation](https://mlsanity.com/paper/2203.13251/) (2022)
- [Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning](https://mlsanity.com/paper/2407.03162/) (2024)
- [Scalable Vision-Language-Action Model Pretraining for Robotic Manipulation with Real-Life Human Activity Videos](https://mlsanity.com/paper/2510.21571/) (2025)
- [Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play](https://mlsanity.com/paper/2303.12076/) (2023)
- [Holo-Dex: Teaching Dexterity with Immersive Mixed Reality](https://mlsanity.com/paper/2210.06463/) (2022)
- [Learning Generalizable Dexterous Manipulation from Human Grasp Affordance](https://mlsanity.com/paper/2204.02320/) (2022)
- [Twisting Lids Off with Two Hands](https://mlsanity.com/paper/2403.02338/) (2024)
- [Dexterous Functional Grasping](https://mlsanity.com/paper/2312.02975/) (2023)
- [DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies](https://mlsanity.com/paper/2505.07813/) (2025)

## Abstract (arXiv)

Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation solutions for high degree-of-actuation (DoA), multi-fingered robots are generally cost-prohibitive, while low-cost offerings usually provide reduced degrees of control. Herein, a low-cost, vision based teleoperation system, DexPilot, was developed that allows for complete control over the full 23 DoA robotic system by merely observing the bare human hand. DexPilot enables operators to carry out a variety of complex manipulation tasks that go beyond simple pick-and-place operations. This allows for collection of high dimensional, multi-modality, state-action data that can be leveraged in the future to learn sensorimotor policies for challenging manipulation tasks. The system performance was measured through speed and reliability metrics across two human demonstrators on a variety of tasks. The videos of the experiments can be found at https://sites.google.com/view/dex-pilot.