mlsanityData to 7 Oct 2026

Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning

arXiv 2407.03162 ↗First posted 3 Jul 2024cs.RO cs.CV cs.LGcited by 69

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

Teleoperation is a crucial tool for collecting human demonstrations, but controlling robots with bimanual dexterous hands remains a challenge. Existing teleoperation systems struggle to handle the complexity of coordinating two hands for intricate manipulations. We introduce Bunny-VisionPro, a real-time bimanual dexterous teleoperation system that leverages a VR headset. Unlike previous vision-based teleoperation systems, we design novel low-cost devices to provide haptic feedback to the operator, enhancing immersion. Our system prioritizes safety by incorporating collision and singularity avoidance while maintaining real-time performance through innovative designs. Bunny-VisionPro outperforms prior systems on a standard task suite, achieving higher success rates and reduced task completion times. Moreover, the high-quality teleoperation demonstrations improve downstream imitation learning performance, leading to better generalizability. Notably, Bunny-VisionPro enables imitation learning with challenging multi-stage, long-horizon dexterous manipulation tasks, which have rarely been addressed in previous work. Our system's ability to handle bimanual manipulations while prioritizing safety and real-time performance makes it a powerful tool for advancing dexterous manipulation and imitation learning.

Key facts. Cited by 69 papers in the map (data through 7 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 36 of its 55 references that are in the map. First posted on arXiv 3 Jul 2024.

Builds on

36 of 55 references.

Closest ancestors · 13

Same direction, newest first

  1. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation12 Mar
  2. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation4 Jan
  3. 2023GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulators22 Sep
  4. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware23 Apr
  5. 2023Seq2Seq Imitation Learning for Tactile Feedback-based Manipulation5 Mar
  6. 2023Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations2 Mar
  7. 2023MimicPlay: Long-Horizon Imitation Learning by Watching Human Play24 Feb
  8. 2022Accelerating Interactive Human-like Manipulation Learning with GPU-based Simulation and High-quality Demonstrations5 Dec
  9. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperation26 Apr
  10. 2022BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning4 Feb
  11. 2021The Surprising Effectiveness of Representation Learning for Visual Imitation2 Dec
  12. 2021DexMV: Imitation Learning for Dexterous Manipulation from Human Videos12 Aug
1 more
  1. 2020Learning Multi-Arm Manipulation Through Collaborative Teleoperation12 Dec

Other references · 23

  1. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  2. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,730
  3. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  4. 2022A Generalist Agentcited by 802
  5. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  6. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 545
  7. 2017Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperationcited by 286
  8. 2023RVT: Robotic View Transformer for 3D Object Manipulationcited by 224
  9. 2021Semi-Supervised 3D Hand-Object Poses Estimation with Interactions in Timecited by 140
  10. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 136
  11. 2023Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulationcited by 135
  12. 2019DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm Systemcited by 105
11 more
  1. 2022Robotic Telekinesis: Learning a Robotic Hand Imitator by Watching Humans on Youtubecited by 79
  2. 2022DexPoint: Generalizable Point Cloud Reinforcement Learning for Sim-to-Real Dexterous Manipulationcited by 78
  3. 2024Learning Visuotactile Skills with Two Multifingered Handscited by 71
  4. 2024OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulationcited by 67
  5. 2022Holo-Dex: Teaching Dexterity with Immersive Mixed Realitycited by 52
  6. 2021STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulationcited by 46
  7. 2023AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wildcited by 46
  8. 2023Stabilize to Act: Learning to Coordinate for Bimanual Manipulationcited by 36
  9. 2021NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulationcited by 13
  10. 2021GraspLook: a VR-based Telemanipulation System with R-CNN-driven Augmentation of Virtual Environmentcited by 7
  11. 2022Attentiveness Map Estimation for Haptic Teleoperation of Mobile Robot Obstacle Avoidance and Approachcited by 1

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 11; 2025: 36; 2026: 22.

69 papers.

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  1. 2024ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AIcited by 216
  2. 2025RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twinscited by 117
  3. 2025EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videoscited by 116
  4. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 104
  5. 2025Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulationcited by 103
  6. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 82
  7. 2025Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learningcited by 57
  8. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 56
  9. 2024Generalizable Humanoid Manipulation with 3D Diffusion Policiescited by 49
  10. 2025ManiFlow: A General Robot Manipulation Policy via Consistency Flow Trainingcited by 43
  11. 2025Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulationcited by 42
  12. 2024ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulationcited by 36
38 more
  1. 2024ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedbackcited by 31
  2. 2024Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewardscited by 25
  3. 2024Cross-Embodiment Dexterous Grasping with Reinforcement Learningcited by 24
  4. 2025Dexterous Manipulation through Imitation Learning: A Surveycited by 18
  5. 2024AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulationcited by 15
  6. 2025DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulationcited by 15
  7. 2025Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithmcited by 12
  8. 2025HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoningcited by 12
  9. 2025How to Train Your Robots? The Impact of Demonstration Modality on Imitation Learningcited by 11
  10. 2025Learning to Transfer Human Hand Skills for Robot Manipulationscited by 10
  11. 2025ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Modelcited by 10
  12. 2025VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuningcited by 10
  13. 2026SimToolReal: An Object-Centric Policy for Zero-Shot Dexterous Tool Manipulationcited by 10
  14. 2025Dexplore: Scalable Neural Control for Dexterous Manipulation from Reference-Scoped Explorationcited by 9
  15. 2026Dexora: Open-source VLA for High-DoF Bimanual Dexteritycited by 9
  16. 2025Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretrainingcited by 8
  17. 2025DexNDM: Closing the Reality Gap for Dexterous In-Hand Rotation via Joint-Wise Neural Dynamics Modelcited by 8
  18. 2025End-to-End Dexterous Arm-Hand VLA Policies via Shared Autonomy: VR Teleoperation Augmented by Autonomous Hand VLA Policy for Efficient Data Collectioncited by 8
  19. 2025One-Shot Dual-Arm Imitation Learningcited by 7
  20. 2024WildLMa: Long Horizon Loco-Manipulation in the Wildcited by 6
  21. 2026SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reusecited by 5
  22. 2026Cross-Hand Latent Representation for Vision-Language-Action Modelscited by 5
  23. 2025V-HOP: Visuo-Haptic 6D Object Pose Trackingcited by 4
  24. 2025D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentationcited by 4
  25. 2025R2RGEN: Real-to-Real 3D Data Generation for Spatially Generalized Manipulationcited by 4
  26. 2026Towards Exploratory and Focused Manipulation with Bimanual Active Perception: A New Problem, Benchmark and Strategycited by 4
  27. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  28. 2026Learning Panorama-Aware VLA for Mobile Manipulation with Whole-Body Teleoperationcited by 4
  29. 2026HandEdit: A Unified Benchmark for Egocentric Human-to-Robot Dexterous Hand Image Editingcited by 4
  30. 2025LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrationscited by 3
  31. 2026RoboPocket: Improve Robot Policies Instantly with Your Phonecited by 3
  32. 2025IRIS: An Immersive Robot Interaction Systemcited by 2
  33. 2025Learning Adaptive Dexterous Grasping from Single Demonstrationscited by 2
  34. 2025Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Predictioncited by 2
  35. 2025Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schr"odinger Bridgescited by 2
  36. 2025Traj2Action: A Co-Denoising Framework for Trajectory-Guided Human-to-Robot Skill Transfercited by 2
  37. 2025From Power to Precision: Learning Fine-grained Dexterity for Multi-fingered Robotic Handscited by 2
  38. 2026EasyMimic: A Low-Cost Framework for Robot Imitation Learning from Human Videoscited by 2

50 most cited of 69 All 69 (JSON)

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Close in wording, no citation either way

  1. 2024Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation
  2. 2022A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies
  3. 2025One-Shot Real-World Demonstration Synthesis for Scalable Bimanual Manipulation ↗
  4. 2025Echo: An Open-Source, Low-Cost Teleoperation System with Force Feedback for Dataset Collection in Robot Learning
  5. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedback
  6. 2025Taming VR Teleoperation and Learning from Demonstration for Multi-Task Bimanual Table Service Manipulation
  7. 2024ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation
  8. 2024A Comparison of Imitation Learning Algorithms for Bimanual Manipulation