# Teleoperation of Humanoid Robots: A Survey

arXiv: https://arxiv.org/abs/2301.04317 · HTML: https://mlsanity.com/paper/2301.04317/

## Key facts

- Cited by 34 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Jan 2023.

## Built on by (most cited first, 30 of 34)

- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation](https://mlsanity.com/paper/2403.04436/) (2024)
- [DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning](https://mlsanity.com/paper/2410.24185/) (2024)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [ORGANA: A Robotic Assistant for Automated Chemistry Experimentation and Characterization](https://mlsanity.com/paper/2401.06949/) (2024)
- [Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation](https://mlsanity.com/paper/2309.01952/) (2023)
- [Multi-Agent Coordination across Diverse Applications: A Survey](https://mlsanity.com/paper/2502.14743/) (2025)
- [emg2pose: A Large and Diverse Benchmark for Surface Electromyographic Hand Pose Estimation](https://mlsanity.com/paper/2412.02725/) (2024)
- [VLA-RAIL: A Real-Time Asynchronous Inference Linker for VLA Models and Robots](https://mlsanity.com/paper/2512.24673/) (2025)
- [ImitationNet: Unsupervised Human-to-Robot Motion Retargeting via Shared Latent Space](https://mlsanity.com/paper/2309.05310/) (2023)
- [StyleLoco: Generative Adversarial Distillation for Natural Humanoid Robot Locomotion](https://mlsanity.com/paper/2503.15082/) (2025)
- [HACTS: a Human-As-Copilot Teleoperation System for Robot Learning](https://mlsanity.com/paper/2503.24070/) (2025)
- [XRoboToolkit: A Cross-Platform Framework for Robot Teleoperation](https://mlsanity.com/paper/2508.00097/) (2025)
- [Real-Time Operator Takeover for Visuomotor Diffusion Policy Training](https://mlsanity.com/paper/2502.02308/) (2025)
- [XBG: End-to-end Imitation Learning for Autonomous Behaviour in Human-Robot Interaction and Collaboration](https://mlsanity.com/paper/2406.15833/) (2024)
- [Latent Adaptive Planner for Dynamic Manipulation](https://mlsanity.com/paper/2505.03077/) (2025)
- [Coordinated Humanoid Manipulation with Choice Policies](https://mlsanity.com/paper/2512.25072/) (2025)
- [emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal Hands](https://mlsanity.com/paper/2508.08269/) (2025)
- [RoboInspector: Unveiling the Unreliability of Policy Code for LLM-enabled Robotic Manipulation](https://mlsanity.com/paper/2508.21378/) (2025)
- [PvP: Data-Efficient Humanoid Robot Learning with Proprioceptive-Privileged Contrastive Representations](https://mlsanity.com/paper/2512.13093/) (2025)
- [Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback](https://mlsanity.com/paper/2606.14218/) (2026)
- [A Structured Prediction Approach for Robot Imitation Learning](https://mlsanity.com/paper/2309.14829/) (2023)
- [Modifying RL Policies with Imagined Actions: How Predictable Policies Can Enable Users to Perform Novel Tasks](https://mlsanity.com/paper/2312.05991/) (2023)
- [GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation](https://mlsanity.com/paper/2508.09960/) (2025)
- [MASH: Cooperative-Heterogeneous Multi-Agent Reinforcement Learning for Single Humanoid Robot Locomotion](https://mlsanity.com/paper/2508.10423/) (2025)
- [Targeting World Models to Compromise Robot Learning Pipelines](https://mlsanity.com/paper/2606.09499/) (2026)
- [Coupled Control and Wireless World Models for Resilient Remote Robotic Control](https://mlsanity.com/paper/2609.04851/) (2026)
- [The 10 Million ANA Avatar XPRIZE Competition Advanced Immersive Telepresence Systems](https://mlsanity.com/paper/2308.07878/) (2023)
- [Towards Real-Time Generation of Delay-Compensated Video Feeds for Outdoor Mobile Robot Teleoperation](https://mlsanity.com/paper/2409.09921/) (2024)
- [Adaptive Anomaly Recovery for Telemanipulation: A Diffusion Model Approach to Vision-Based Tracking](https://mlsanity.com/paper/2503.09632/) (2025)

## 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/.