# Open-TeleVision: Teleoperation with Immersive Active Visual Feedback

arXiv: https://arxiv.org/abs/2407.01512 · HTML: https://mlsanity.com/paper/2407.01512/

## Key facts

- Cited by 145 papers in the map (data through 14 Oct 2026).
- Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data.
- Builds on 61 of its 82 references that are in the map.
- First posted on arXiv 1 Jul 2024.

## Placed in

- Offline RL and imitation learning from data / [Robot manipulation imitation learning](https://mlsanity.com/offlinerl/robot-manipulation-imitation-learning/)

## Builds on (most cited first, 30 of 61)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware](https://mlsanity.com/paper/2304.13705/) (2023)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset](https://mlsanity.com/paper/2403.12945/) (2024)
- [What Matters in Learning from Offline Human Demonstrations for Robot Manipulation](https://mlsanity.com/paper/2108.03298/) (2021)
- [Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation](https://mlsanity.com/paper/2209.05451/) (2022)
- [RMA: Rapid Motor Adaptation for Legged Robots](https://mlsanity.com/paper/2107.04034/) (2021)
- [Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots](https://mlsanity.com/paper/2402.10329/) (2024)
- [Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation](https://mlsanity.com/paper/2401.02117/) (2024)
- [Learning Agile Robotic Locomotion Skills by Imitating Animals](https://mlsanity.com/paper/2004.00784/) (2020)
- [MimicPlay: Long-Horizon Imitation Learning by Watching Human Play](https://mlsanity.com/paper/2302.12422/) (2023)
- [GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators](https://mlsanity.com/paper/2309.13037/) (2023)
- [OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning](https://mlsanity.com/paper/2406.08858/) (2024)
- [HumanPlus: Humanoid Shadowing and Imitation from Humans](https://mlsanity.com/paper/2406.10454/) (2024)
- [Rapid Locomotion via Reinforcement Learning](https://mlsanity.com/paper/2205.02824/) (2022)
- [Extreme Parkour with Legged Robots](https://mlsanity.com/paper/2309.14341/) (2023)
- [Human-to-Robot Imitation in the Wild](https://mlsanity.com/paper/2207.09450/) (2022)
- [DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation](https://mlsanity.com/paper/2403.07788/) (2024)
- [The Surprising Effectiveness of Representation Learning for Visual Imitation](https://mlsanity.com/paper/2112.01511/) (2021)
- [AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System](https://mlsanity.com/paper/2307.04577/) (2023)
- [Legged Locomotion in Challenging Terrains using Egocentric Vision](https://mlsanity.com/paper/2211.07638/) (2022)
- [Robot Parkour Learning](https://mlsanity.com/paper/2309.05665/) (2023)
- [Structured World Models from Human Videos](https://mlsanity.com/paper/2308.10901/) (2023)
- [Expressive Whole-Body Control for Humanoid Robots](https://mlsanity.com/paper/2402.16796/) (2024)
- [Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation](https://mlsanity.com/paper/2403.04436/) (2024)
- [Yell At Your Robot: Improving On-the-Fly from Language Corrections](https://mlsanity.com/paper/2403.12910/) (2024)

## Built on by (most cited first, 30 of 145)

- [FAST: Efficient Action Tokenization for Vision-Language-Action Models](https://mlsanity.com/paper/2501.09747/) (2025)
- [ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI](https://mlsanity.com/paper/2410.00425/) (2024)
- [EgoMimic: Scaling Imitation Learning via Egocentric Video](https://mlsanity.com/paper/2410.24221/) (2024)
- [RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation](https://mlsanity.com/paper/2412.13877/) (2024)
- [Data Scaling Laws in Imitation Learning for Robotic Manipulation](https://mlsanity.com/paper/2410.18647/) (2024)
- [EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos](https://mlsanity.com/paper/2507.12440/) (2025)
- [RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins](https://mlsanity.com/paper/2504.13059/) (2025)
- [DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning](https://mlsanity.com/paper/2410.24185/) (2024)
- [TWIST: Teleoperated Whole-Body Imitation System](https://mlsanity.com/paper/2505.02833/) (2025)
- [Vision-Language-Action Models for Robotics: A Review Towards Real-World Applications](https://mlsanity.com/paper/2510.07077/) (2025)
- [Humanoid Policy ~ Human Policy](https://mlsanity.com/paper/2503.13441/) (2025)
- [HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit](https://mlsanity.com/paper/2502.13013/) (2025)
- [InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions](https://mlsanity.com/paper/2502.20390/) (2025)
- [RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)](https://mlsanity.com/paper/2409.02920/) (2024)
- [OKAMI: Teaching Humanoid Robots Manipulation Skills through Single Video Imitation](https://mlsanity.com/paper/2410.11792/) (2024)
- [ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning](https://mlsanity.com/paper/2503.21860/) (2025)
- [EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World](https://mlsanity.com/paper/2604.07607/) (2026)
- [RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning](https://mlsanity.com/paper/2504.18904/) (2025)
- [Generalizable Humanoid Manipulation with 3D Diffusion Policies](https://mlsanity.com/paper/2410.10803/) (2024)
- [Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control](https://mlsanity.com/paper/2412.07773/) (2024)
- [AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control](https://mlsanity.com/paper/2505.03738/) (2025)
- [ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training](https://mlsanity.com/paper/2509.01819/) (2025)
- [Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids](https://mlsanity.com/paper/2502.20396/) (2025)
- [Learning Humanoid Standing-up Control across Diverse Postures](https://mlsanity.com/paper/2502.08378/) (2025)
- [Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation](https://mlsanity.com/paper/2503.24361/) (2025)
- [Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments](https://mlsanity.com/paper/2409.05865/) (2024)
- [TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System](https://mlsanity.com/paper/2511.02832/) (2025)
- [DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies](https://mlsanity.com/paper/2505.07813/) (2025)
- [DexMachina: Functional Retargeting for Bimanual Dexterous Manipulation](https://mlsanity.com/paper/2505.24853/) (2025)
- [ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation](https://mlsanity.com/paper/2410.07554/) (2024)

## Abstract (arXiv)

Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and scalable data. To achieve this, we propose an immersive teleoperation system Open-TeleVision that allows operators to actively perceive the robot's surroundings in a stereoscopic manner. Additionally, the system mirrors the operator's arm and hand movements on the robot, creating an immersive experience as if the operator's mind is transmitted to a robot embodiment. We validate the effectiveness of our system by collecting data and training imitation learning policies on four long-horizon, precise tasks (Can Sorting, Can Insertion, Folding, and Unloading) for 2 different humanoid robots and deploy them in the real world. The system is open-sourced at: https://robot-tv.github.io/