# The 10 Million ANA Avatar XPRIZE Competition Advanced Immersive Telepresence Systems

arXiv: https://arxiv.org/abs/2308.07878 · HTML: https://mlsanity.com/paper/2308.07878/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 9 of its 22 references that are in the map.
- First posted on arXiv 15 Aug 2023.

## Builds on (most cited first, 9 of 9)

- [Teleoperation of Humanoid Robots: A Survey](https://mlsanity.com/paper/2301.04317/) (2023)
- [iCub3 Avatar System: Enabling Remote Fully-Immersive Embodiment of Humanoid Robots](https://mlsanity.com/paper/2203.06972/) (2022)
- [NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulation](https://mlsanity.com/paper/2109.13772/) (2021)
- [Bimanual Telemanipulation with Force and Haptic Feedback through an Anthropomorphic Avatar System](https://mlsanity.com/paper/2301.00764/) (2023)
- [Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals](https://mlsanity.com/paper/2303.03297/) (2023)
- [Audio-based Roughness Sensing and Tactile Feedback for Haptic Perception in Telepresence](https://mlsanity.com/paper/2303.07186/) (2023)
- [VR Facial Animation for Immersive Telepresence Avatars](https://mlsanity.com/paper/2304.12051/) (2023)
- [Low-Latency Immersive 6D Televisualization with Spherical Rendering](https://mlsanity.com/paper/2109.11373/) (2021)
- [Team Northeastern's Approach to ANA XPRIZE Avatar Final Testing: A Holistic Approach to Telepresence and Lessons Learned](https://mlsanity.com/paper/2303.04932/) (2023)

## Abstract (arXiv)

The 10M ANA Avatar XPRIZE aimed to create avatar systems that can transport human presence to remote locations in real time. The participants of this multi-year competition developed robotic systems that allow operators to see, hear, and interact with a remote environment in a way that feels as if they are truly there. On the other hand, people in the remote environment were given the impression that the operator was present inside the avatar robot. At the competition finals, held in November 2022 in Long Beach, CA, USA, the avatar systems were evaluated on their support for remotely interacting with humans, exploring new environments, and employing specialized skills. This article describes the competition stages with tasks and evaluation procedures, reports the results, presents the winning teams' approaches, and discusses lessons learned.