# iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots

arXiv: https://arxiv.org/abs/2203.06972 · HTML: https://mlsanity.com/paper/2203.06972/

## Key facts

- Cited by 15 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Mar 2022.

## Built on by (most cited first, 15 of 15)

- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [Open-TeleVision: Teleoperation with Immersive Active Visual Feedback](https://mlsanity.com/paper/2407.01512/) (2024)
- [Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation](https://mlsanity.com/paper/2403.04436/) (2024)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://mlsanity.com/paper/2502.13013/) (2025)
- [STG-Avatar: Animatable Human Avatars via Spacetime Gaussian](https://mlsanity.com/paper/2510.22140/) (2025)
- [Robi Butler: Multimodal Remote Interaction with a Household Robot Assistant](https://mlsanity.com/paper/2409.20548/) (2024)
- [XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration](https://mlsanity.com/paper/2406.15833/) (2024)
- [RoboGesture: Real-Time Semantic-aligned Co-Speech Gestures Generation for Humanoid Interaction](https://mlsanity.com/paper/2608.28693/) (2026)
- [Agile and versatile bipedal robot tracking control through reinforcement learning](https://mlsanity.com/paper/2404.08246/) (2024)
- [Learning to Evaluate Autonomous Behaviour in Human-Robot Interaction](https://mlsanity.com/paper/2507.06404/) (2025)
- [PressMimic: Pressure-Guided Motion Capture and Control for Humanoid Robot Imitation](https://mlsanity.com/paper/2606.26741/) (2026)
- [The 10 Million ANA Avatar XPRIZE Competition Advanced Immersive Telepresence Systems](https://mlsanity.com/paper/2308.07878/) (2023)
- [Towards Miniature Humanoid Tele-Loco-Manipulation Using Virtual Reality and Reinforcement Learning](https://mlsanity.com/paper/2607.20399/) (2026)

## Abstract (arXiv)

We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia (IIT). More precisely, the contribution of the paper is twofold: first, we present the humanoid iCub3 as a robotic avatar which integrates the latest significant improvements after about fifteen years of development of the iCub series; second, we present a versatile avatar system enabling humans to embody humanoid robots encompassing aspects such as locomotion, manipulation, voice, and face expressions with comprehensive sensory feedback including visual, auditory, haptic, weight, and touch modalities. We validate the system by implementing several avatar architecture instances, each tailored to specific requirements. First, we evaluated the optimized architecture for verbal, non-verbal, and physical interactions with a remote recipient. This testing involved the operator in Genoa and the avatar in the Biennale di Venezia, Venice - about 290 Km away - thus allowing the operator to visit remotely the Italian art exhibition. Second, we evaluated the optimised architecture for recipient physical collaboration and public engagement on-stage, live, at the We Make Future show, a prominent world digital innovation festival. In this instance, the operator was situated in Genoa while the avatar operates in Rimini - about 300 Km away - interacting with a recipient who entrusted the avatar a payload to carry on stage before an audience of approximately 2000 spectators. Third, we present the architecture implemented by the iCub Team for the ANA Avatar XPrize competition.