mlsanityData to 14 Oct 2026

OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

arXiv 2403.07870 ↗First posted 12 Mar 2024cs.ROcited by 71

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Abstract (arXiv)

Open-sourced, user-friendly tools form the bedrock of scientific advancement across disciplines. The widespread adoption of data-driven learning has led to remarkable progress in multi-fingered dexterity, bimanual manipulation, and applications ranging from logistics to home robotics. However, existing data collection platforms are often proprietary, costly, or tailored to specific robotic morphologies. We present OPEN TEACH, a new teleoperation system leveraging VR headsets to immerse users in mixed reality for intuitive robot control. Built on the affordable Meta Quest 3, which costs 500, OPEN TEACH enables real-time control of various robots, including multi-fingered hands and bimanual arms, through an easy-to-use app. Using natural hand gestures and movements, users can manipulate robots at up to 90Hz with smooth visual feedback and interface widgets offering closeup environment views. We demonstrate the versatility of OPEN TEACH across 38 tasks on different robots. A comprehensive user study indicates significant improvement in teleoperation capability over the AnyTeleop framework. Further experiments exhibit that the collected data is compatible with policy learning on 10 dexterous and contact-rich manipulation tasks. Currently supporting Franka, xArm, Jaco, and Allegro platforms, OPEN TEACH is fully open-sourced to promote broader adoption. Videos are available at https://open-teach.github.io/.

Key facts. Cited by 71 papers in the map (data through 14 Oct 2026). First posted on arXiv 12 Mar 2024.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 18; 2025: 29; 2026: 24.

71 papers.

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  1. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,225
  2. 2024Data Scaling Laws in Imitation Learning for Robotic Manipulationcited by 145
  3. 2025EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videoscited by 128
  4. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 116
  5. 2025Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulationcited by 108
  6. 2024Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learningcited by 77
  7. 2024Learning Visuotactile Skills with Two Multifingered Handscited by 76
  8. 2025HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpitcited by 76
  9. 2024SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deploymentcited by 52
  10. 2024Robot Utility Models: General Policies for Zero-Shot Deployment in New Environmentscited by 44
  11. 2024DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Controlcited by 44
  12. 2024Hand-Object Interaction Pretraining from Videoscited by 39
38 more
  1. 2025DexWild: Dexterous Human Interactions for In-the-Wild Robot Policiescited by 38
  2. 2024ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulationcited by 36
  3. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 31
  4. 2024Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewardscited by 28
  5. 2025X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Realcited by 28
  6. 2024Lessons from Learning to Spin "Pens"cited by 26
  7. 2024AnySkin: Plug-and-play Skin Sensing for Robotic Touchcited by 23
  8. 2024RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-Worldcited by 22
  9. 2025Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrationscited by 19
  10. 2025SAIL: Faster-than-Demonstration Execution of Imitation Learning Policiescited by 18
  11. 2024P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policiescited by 16
  12. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 15
  13. 2025Touch begins where vision ends: Generalizable policies for contact-rich manipulationcited by 14
  14. 2024Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skinscited by 12
  15. 2025SCIZOR: A Self-Supervised Approach to Data Curation for Large-Scale Imitation Learningcited by 9
  16. 2025Scaffolding Dexterous Manipulation with Vision-Language Modelscited by 9
  17. 2026Dexora: Open-source VLA for High-DoF Bimanual Dexteritycited by 9
  18. 2025RUKA: Rethinking the Design of Humanoid Hands with Learningcited by 8
  19. 2025Feel the Force: Contact-Driven Learning from Humanscited by 8
  20. 2025XRoboToolkit: A Cross-Platform Framework for Robot Teleoperationcited by 8
  21. 2025Genie Centurion: Accelerating Scalable Real-World Robot Training with Human Rewind-and-Refine Guidancecited by 7
  22. 2024Whole-Body Teleoperation for Mobile Manipulation at Zero Added Costcited by 6
  23. 2024WildLMa: Long Horizon Loco-Manipulation in the Wildcited by 6
  24. 2025eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructurescited by 5
  25. 2026Human Universal Graspingcited by 5
  26. 2025Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialoguecited by 4
  27. 2025FieldGen: From Teleoperated Pre-Manipulation Trajectories to Field-Guided Data Generationcited by 4
  28. 2026SCALE: Self-uncertainty Conditioned Adaptive Looking and Execution for Vision-Language-Action Modelscited by 4
  29. 2026Contact-Anchored Policies: Contact Conditioning Creates Strong Robot Utility Modelscited by 4
  30. 2026Lucid-XR: An Extended-Reality Data Engine for Robotic Manipulationcited by 4
  31. 2026Learning Panorama-Aware VLA for Mobile Manipulation with Whole-Body Teleoperationcited by 4
  32. 2025Gaze-Guided Task Decomposition for Imitation Learning in Robotic Manipulationcited by 3
  33. 2025MaskedManipulator: Versatile Whole-Body Manipulationcited by 3
  34. 2025Prepare Before You Act: Learning From Humans to Rearrange Initial Statescited by 3
  35. 2025IRIS: An Immersive Robot Interaction Systemcited by 2
  36. 2025TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperationcited by 2
  37. 2025Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schr"odinger Bridgescited by 2
  38. 2026Sim2real Image Translation Enables Viewpoint-Robust Policies from Fixed-Camera Datasetscited by 2

50 most cited of 71 All 71 (JSON)