# Team Northeastern's Approach to ANA XPRIZE Avatar Final Testing: A Holistic Approach to Telepresence and Lessons Learned

arXiv: https://arxiv.org/abs/2303.04932 · HTML: https://mlsanity.com/paper/2303.04932/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Mar 2023.

## Built on by (most cited first, 2 of 2)

- [DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation](https://mlsanity.com/paper/2509.04441/) (2025)
- [The 10 Million ANA Avatar XPRIZE Competition Advanced Immersive Telepresence Systems](https://mlsanity.com/paper/2308.07878/) (2023)

## Abstract (arXiv)

This paper reports on Team Northeastern's Avatar system for telepresence, and our holistic approach to meet the ANA Avatar XPRIZE Final testing task requirements. The system features a dual-arm configuration with hydraulically actuated glove-gripper pair for haptic force feedback. Our proposed Avatar system was evaluated in the ANA Avatar XPRIZE Finals and completed all 10 tasks, scored 14.5 points out of 15.0, and received the 3rd Place Award. We provide the details of improvements over our first generation Avatar, covering manipulation, perception, locomotion, power, network, and controller design. We also extensively discuss the major lessons learned during our participation in the competition.