mlsanityData to 7 Oct 2026

Teleoperation of Humanoid Robots: A Survey

arXiv 2301.04317 ↗First posted 11 Jan 2023cs.ROcited by 32

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Abstract (arXiv)

Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform for a wide range of applications when teleoperating in a remote environment. However, the complexity of humanoid robots imposes challenges for teleoperation, particularly in unstructured dynamic environments with limited communication. Many advancements have been achieved in the last decades in this area, but a comprehensive overview is still missing. This survey paper gives an extensive overview of humanoid robot teleoperation, presenting the general architecture of a teleoperation system and analyzing the different components. We also discuss different aspects of the topic, including technological and methodological advances, as well as potential applications. A web-based version of the paper can be found at https://humanoid-teleoperation.github.io/.

Key facts. Cited by 32 papers in the map (data through 7 Oct 2026). First posted on arXiv 11 Jan 2023.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 5; 2024: 7; 2025: 16; 2026: 4.

32 papers.

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  1. 2024OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learningcited by 167
  2. 2024Learning Human-to-Humanoid Real-Time Whole-Body Teleoperationcited by 112
  3. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 104
  4. 2025TWIST: Teleoperated Whole-Body Imitation Systemcited by 86
  5. 2024ORGANA: A Robotic Assistant for Automated Chemistry Experimentation and Characterizationcited by 60
  6. 2023Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperationcited by 49
  7. 2025Multi-Agent Coordination across Diverse Applications: A Surveycited by 37
  8. 2024emg2pose: A Large and Diverse Benchmark for Surface Electromyographic Hand Pose Estimationcited by 20
  9. 2025VLA-RAIL: A Real-Time Asynchronous Inference Linker for VLA Models and Robotscited by 18
  10. 2023ImitationNet: Unsupervised Human-to-Robot Motion Retargeting via Shared Latent Spacecited by 11
  11. 2025XRoboToolkit: A Cross-Platform Framework for Robot Teleoperationcited by 7
  12. 2025HACTS: a Human-As-Copilot Teleoperation System for Robot Learningcited by 6
20 more
  1. 2025Real-Time Operator Takeover for Visuomotor Diffusion Policy Trainingcited by 5
  2. 2025StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotioncited by 5
  3. 2024XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaborationcited by 4
  4. 2025Latent Adaptive Planner for Dynamic Manipulationcited by 4
  5. 2025Coordinated Humanoid Manipulation with Choice Policiescited by 4
  6. 2025RoboInspector: Unveiling the Unreliability of Policy Code for LLM-enabled Robotic Manipulationcited by 2
  7. 2025PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representationscited by 2
  8. 2023A Structured Prediction Approach for Robot Imitation Learningcited by 1
  9. 2023Modifying RL Policies with Imagined Actions: How Predictable Policies Can Enable Users to Perform Novel Taskscited by 1
  10. 2025emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal Handscited by 1
  11. 2025MASH: Cooperative-Heterogeneous Multi-Agent Reinforcement Learning for Single Humanoid Robot Locomotioncited by 1
  12. 2026Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedbackcited by 1
  13. 2023The 10 Million ANA Avatar XPRIZE Competition Advanced Immersive Telepresence Systemscited by 0
  14. 2024Towards Real-Time Generation of Delay-Compensated Video Feeds for Outdoor Mobile Robot Teleoperationcited by 0
  15. 2025Adaptive Anomaly Recovery for Telemanipulation: A Diffusion Model Approach to Vision-Based Trackingcited by 0
  16. 2025GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitationcited by 0
  17. 2025HuMam: Humanoid Motion Control via End-to-End Deep Reinforcement Learning with Mambacited by 0
  18. 2026Scalable Dexterous Robot Learning with AR-based Remote Human-Robot Interactionscited by 0
  19. 2026Targeting World Models to Compromise Robot Learning Pipelinescited by 0
  20. 2026Coupled Control and Wireless World Models for Resilient Remote Robotic Controlcited by 0