# Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals

arXiv: https://arxiv.org/abs/2303.03297 · HTML: https://mlsanity.com/paper/2303.03297/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Mar 2023.

## Built on by (most cited first, 4 of 4)

- [TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation](https://mlsanity.com/paper/2403.07869/) (2024)
- [Attention-Based VR Facial Animation with Visual Mouth Camera Guidance for Immersive Telepresence Avatars](https://mlsanity.com/paper/2312.09750/) (2023)
- [The 10 Million ANA Avatar XPRIZE Competition Advanced Immersive Telepresence Systems](https://mlsanity.com/paper/2308.07878/) (2023)
- [LocoVR: Multiuser Indoor Locomotion Dataset in Virtual Reality](https://mlsanity.com/paper/2410.06437/) (2024)

## Abstract (arXiv)

Robotic avatar systems promise to bridge distances and reduce the need for travel. We present the updated NimbRo avatar system, winner of the 5M grand prize at the international ANA Avatar XPRIZE competition, which required participants to build intuitive and immersive robotic telepresence systems that could be operated by briefly trained operators. We describe key improvements for the finals, compared to the system used in the semifinals: To operate without a power- and communications tether, we integrated a battery and a robust redundant wireless communication system. Video and audio data are compressed using low-latency HEVC and Opus codecs. We propose a new locomotion control device with tunable resistance force. To increase flexibility, the robot's upper-body height can be adjusted by the operator. We describe essential monitoring and robustness tools which enabled the success at the competition. Finally, we analyze our performance at the competition finals and discuss lessons learned.