# TELESIM: A Modular and Plug-and-Play Framework for Robotic Arm Teleoperation using a Digital Twin

arXiv: https://arxiv.org/abs/2309.10579 · HTML: https://mlsanity.com/paper/2309.10579/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Sep 2023.

## Built on by (most cited first, 1 of 1)

- [Flat'n'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation](https://mlsanity.com/paper/2409.18297/) (2024)

## Abstract (arXiv)

We present TELESIM, a modular and plug-and-play framework for direct teleoperation of a robotic arm using a digital twin as the interface between the user and the robotic system. We tested TELESIM by performing a user survey with 37 participants on two different robots using two different control modalities: a virtual reality controller and a finger mapping hardware controller using different grasping systems. Users were asked to teleoperate the robot to pick and place 3 cubes in a tower and to repeat this task as many times as possible in 10 minutes, with only 5 minutes of training beforehand. Our experimental results show that most users were able to succeed by building at least a tower of 3 cubes regardless of the control modality or robot used, demonstrating the user-friendliness of TELESIM.