mlsanityData to 7 Oct 2026

OpenVR: Teleoperation for Manipulation

arXiv 2305.09765 ↗First posted 16 May 2023cs.RO cs.HC cs.LGcited by 8

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Abstract (arXiv)

Across the robotics field, quality demonstrations are an integral part of many control pipelines. However, collecting high-quality demonstration trajectories remains time-consuming and difficult, often resulting in the number of demonstrations being the performance bottleneck. To address this issue, we present a method of Virtual Reality (VR) Teleoperation that uses an Oculus VR headset to teleoperate a Franka Emika Panda robot. Although other VR teleoperation methods exist, our code is open source, designed for readily available consumer hardware, easy to modify, agnostic to experimental setup, and simple to use.

Key facts. Cited by 8 papers in the map (data through 7 Oct 2026). Builds on 18 of its 46 references that are in the map. First posted on arXiv 16 May 2023.

Builds on

18 of 46 references.

References · 18

  1. 2015You Only Look Once: Unified, Real-Time Object Detectioncited by 4,829
  2. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,730
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  4. 2017Time-Contrastive Networks: Self-Supervised Learning from Videocited by 453
  5. 2017Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperationcited by 286
  6. 2018RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitationcited by 202
  7. 2020Human-in-the-Loop Imitation Learning using Remote Teleoperationcited by 103
  8. 2021Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstrationcited by 92
  9. 2022Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtubecited by 79
  10. 2022Holo-Dex: Teaching Dexterity with Immersive Mixed Realitycited by 52
  11. 2022A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policiescited by 26
  12. 2020A Modular Robotic Arm Control Stack for Research: Franka-Interface and FrankaPycited by 24
6 more
  1. 2022Unified Learning from Demonstrations, Corrections, and Preferences during Physical Human-Robot Interactioncited by 18
  2. 2020Learning from Sparse Demonstrationscited by 9
  3. 2021Learning Forceful Manipulation Skills from Multi-modal Human Demonstrationscited by 7
  4. 2019Creativity in Robot Manipulation with Deep Reinforcement Learningcited by 3
  5. 2022Minimizing Human Assistance: Augmenting a Single Demonstration for Deep Reinforcement Learningcited by 3
  6. 2022MAN: Multi-Action Networks Learningcited by 2

Built on by

Cited by year

Citing papers per year: 2023: 2; 2024: 3; 2025: 3.

8 papers.

  1. 2024EgoMimic: Scaling Imitation Learning via Egocentric Videocited by 160
  2. 2023One ACT Play: Single Demonstration Behavior Cloning with Action Chunking Transformerscited by 17
  3. 2024VITaL Pretraining: Visuo-Tactile Pretraining for Tactile and Non-Tactile Manipulation Policiescited by 14
  4. 2023SculptBot: Pre-Trained Models for 3D Deformable Object Manipulationcited by 8
  5. 2024ARCADE: Scalable Demonstration Collection and Generation via Augmented Reality for Imitation Learningcited by 5
  6. 2025IRIS: An Immersive Robot Interaction Systemcited by 2
  7. 2025LeVR: A Modular VR Teleoperation Framework for Imitation Learning in Dexterous Manipulationcited by 1
  8. 2025iFlyBot-VLA Technical Reportcited by 1