mlsanityData to 7 Oct 2026

AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild

arXiv 2309.14975 ↗First posted 26 Sep 2023cs.ROcited by 46

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Abstract (arXiv)

While humans can use parts of their arms other than the hands for manipulations like gathering and supporting, whether robots can effectively learn and perform the same type of operations remains relatively unexplored. As these manipulations require joint-level control to regulate the complete poses of the robots, we develop AirExo, a low-cost, adaptable, and portable dual-arm exoskeleton, for teleoperation and demonstration collection. As collecting teleoperated data is expensive and time-consuming, we further leverage AirExo to collect cheap in-the-wild demonstrations at scale. Under our in-the-wild learning framework, we show that with only 3 minutes of the teleoperated demonstrations, augmented by diverse and extensive in-the-wild data collected by AirExo, robots can learn a policy that is comparable to or even better than one learned from teleoperated demonstrations lasting over 20 minutes. Experiments demonstrate that our approach enables the model to learn a more general and robust policy across the various stages of the task, enhancing the success rates in task completion even with the presence of disturbances. Project website: https://airexo.github.io/

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). First posted on arXiv 26 Sep 2023.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 2; 2024: 17; 2025: 17; 2026: 10.

46 papers.

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  1. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,167
  2. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 377
  3. 2024EgoMimic: Scaling Imitation Learning via Egocentric Videocited by 160
  4. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  5. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  6. 2025EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videoscited by 116
  7. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 104
  8. 2025Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulationcited by 103
  9. 2023On Bringing Robots Homecited by 101
  10. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 99
  11. 2024Learning Visuotactile Skills with Two Multifingered Handscited by 71
  12. 2024Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learningcited by 69
34 more
  1. 2025HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpitcited by 65
  2. 2024SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deploymentcited by 48
  3. 2024Twisting Lids Off with Two Handscited by 36
  4. 2024ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulationcited by 36
  5. 2024ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperationcited by 32
  6. 2024ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedbackcited by 31
  7. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 29
  8. 2024TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulationcited by 27
  9. 2025Dexterous Manipulation through Imitation Learning: A Surveycited by 18
  10. 2025AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletonscited by 17
  11. 2025ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrationscited by 17
  12. 2025DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulationcited by 15
  13. 2024Grounding Language Plans in Demonstrations Through Counterfactual Perturbationscited by 11
  14. 2024Human-Agent Joint Learning for Efficient Robot Manipulation Skill Acquisitioncited by 10
  15. 2026Dexora: Open-source VLA for High-DoF Bimanual Dexteritycited by 9
  16. 2025Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretrainingcited by 8
  17. 2025Genie Centurion: Accelerating Scalable Real-World Robot Training with Human Rewind-and-Refine Guidancecited by 7
  18. 2024Whole-Body Teleoperation for Mobile Manipulation at Zero Added Costcited by 6
  19. 2025HACTS: a Human-As-Copilot Teleoperation System for Robot Learningcited by 6
  20. 2026Beyond Data Scaling: Representation-Centric Continued Pre-training for Vision-Language-Action Modelscited by 5
  21. 2025FieldGen: From Teleoperated Pre-Manipulation Trajectories to Field-Guided Data Generationcited by 4
  22. 2026AoE: Always-on Egocentric Human Video Collection for Embodied AIcited by 3
  23. 2026RoboPocket: Improve Robot Policies Instantly with Your Phonecited by 3
  24. 2026Embodiment-Aware Generalist Specialist Distillation for Unified Humanoid Whole-Body Controlcited by 2
  25. 2026YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scalecited by 2
  26. 2026HiFi-UMI: Learning Deployable Manipulation Policies from High-Fidelity UMI Data Alonecited by 2
  27. 2025AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AIcited by 1
  28. 2025TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperationcited by 1
  29. 2025LeVR: A Modular VR Teleoperation Framework for Imitation Learning in Dexterous Manipulationcited by 1
  30. 2026Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedbackcited by 1
  31. 2024BricksRL: A Platform for Democratizing Robotics and Reinforcement Learning Research and Education with LEGOcited by 0
  32. 2025Hybrid Imitation Learning: Teleoperation Augmentation Primitives that Policies Learn to Triggercited by 0
  33. 2026VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulationcited by 0
  34. 2026ModPack: Extensible Teleoperation Interface for Bimanual Mobile Manipulationcited by 0