mlsanityData to 7 Oct 2026

ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation

arXiv 2408.11805 ↗First posted 21 Aug 2024cs.RO cs.CV cs.LGcited by 32

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Abstract (arXiv)

Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse robot platforms has become more crucial than ever. However, there is a notable lack of cost-effective and user-friendly teleoperation systems for different end-effectors, e.g., anthropomorphic robot hands and grippers, that can operate across multiple platforms. To address this issue, we develop ACE, a cross-platform visual-exoskeleton system for low-cost dexterous teleoperation. Our system utilizes a hand-facing camera to capture 3D hand poses and an exoskeleton mounted on a portable base, enabling accurate real-time capture of both finger and wrist poses. Compared to previous systems, which often require hardware customization according to different robots, our single system can generalize to humanoid hands, arm-hands, arm-gripper, and quadruped-gripper systems with high-precision teleoperation. This enables imitation learning for complex manipulation tasks on diverse platforms.

Key facts. Cited by 32 papers in the map (data through 7 Oct 2026). Builds on 32 of its 51 references that are in the map. First posted on arXiv 21 Aug 2024.

Builds on

32 of 51 references.

References · 32

  1. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,730
  2. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  3. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  4. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 849
  5. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 634
  6. 2022BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learningcited by 517
  7. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 397
  8. 2024Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperationcited by 377
  9. 2024Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robotscited by 373
  10. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  11. 2017Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperationcited by 286
  12. 2023GELLO: A General, Low-Cost, and Intuitive Teleoperation Framework for Robot Manipulatorscited by 180
20 more
  1. 2020MediaPipe Hands: On-device Real-time Hand Trackingcited by 157
  2. 2022Human-to-Robot Imitation in the Wildcited by 157
  3. 2024DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulationcited by 149
  4. 2024Open-TeleVision: Teleoperation with Immersive Active Visual Feedbackcited by 137
  5. 2023AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation Systemcited by 136
  6. 2019DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm Systemcited by 105
  7. 2022VideoDex: Learning Dexterity from Internet Videoscited by 101
  8. 2022From One Hand to Multiple Hands: Imitation Learning for Dexterous Manipulation from Single-Camera Teleoperationcited by 79
  9. 2022Dexterous Imitation Made Easy: A Learning-Based Framework for Efficient Dexterous Manipulationcited by 75
  10. 2020FrankMocap: Fast Monocular 3D Hand and Body Motion Capture by Regression and Integrationcited by 72
  11. 2021Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulationcited by 59
  12. 2022Holo-Dex: Teaching Dexterity with Immersive Mixed Realitycited by 52
  13. 2023Towards Generalizable Zero-Shot Manipulation via Translating Human Interaction Planscited by 51
  14. 2023AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wildcited by 46
  15. 2022Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrationscited by 34
  16. 2017Baxter's Homunculus: Virtual Reality Spaces for Teleoperation in Manufacturingcited by 19
  17. 2018Vision-based Teleoperation of Shadow Dexterous Hand using End-to-End Deep Neural Networkcited by 19
  18. 2020A Mobile Robot Hand-Arm Teleoperation System by Vision and IMUcited by 15
  19. 2021NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulationcited by 13
  20. 2022ASHA: Assistive Teleoperation via Human-in-the-Loop Reinforcement Learningcited by 8

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 9; 2025: 14; 2026: 9.

32 papers.

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  1. 2024EgoMimic: Scaling Imitation Learning via Egocentric Videocited by 160
  2. 2025HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpitcited by 65
  3. 2025Humanoid Policy ~ Human Policycited by 65
  4. 2025ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learningcited by 56
  5. 2024Generalizable Humanoid Manipulation with 3D Diffusion Policiescited by 49
  6. 2024Robot Utility Models: General Policies for Zero-Shot Deployment in New Environmentscited by 43
  7. 2024ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulationcited by 36
  8. 2024ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedbackcited by 31
  9. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 29
  10. 2024Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewardscited by 25
  11. 2025Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skillscited by 21
  12. 2025Dexonomy: Synthesizing All Dexterous Grasp Types in a Grasp Taxonomycited by 19
20 more
  1. 2025Dexterous Manipulation through Imitation Learning: A Surveycited by 18
  2. 2024AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulationcited by 15
  3. 2025DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulationcited by 15
  4. 2025Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrationscited by 14
  5. 2026TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Controlcited by 14
  6. 2025Learning to Transfer Human Hand Skills for Robot Manipulationscited by 10
  7. 2025ManiGaussian++: General Robotic Bimanual Manipulation with Hierarchical Gaussian World Modelcited by 10
  8. 2025Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretrainingcited by 8
  9. 2024WildLMa: Long Horizon Loco-Manipulation in the Wildcited by 6
  10. 2025Real-Time Operator Takeover for Visuomotor Diffusion Policy Trainingcited by 5
  11. 2026DexHiL: A Human-in-the-Loop Framework for Vision-Language-Action Model Post-Training in Dexterous Manipulationcited by 5
  12. 2024Proleptic Temporal Ensemble for Improving the Speed of Robot Tasks Generated by Imitation Learningcited by 4
  13. 2026CLOT: Closed-Loop Global Motion Tracking for Whole-Body Humanoid Teleoperationcited by 4
  14. 2025AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AIcited by 1
  15. 2026Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedbackcited by 1
  16. 2026Sim-and-Human Co-training for Data-Efficient and Scene-Generalizable Bimanual Manipulationcited by 0
  17. 2026Structural Action Transformer for 3D Dexterous Manipulationcited by 0
  18. 2026Human-Robot Copilot for Data-Efficient Imitation Learningcited by 0
  19. 2026DexPIE: Stable Dexterous Policy Improvement from Real-World Experiencecited by 0
  20. 2026X-Reset: Scaling Object-Centric Reinforcement Learning via Cross-Embodiment Resetscited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025Exo-ViHa: A Cross-Platform Exoskeleton System with Visual and Haptic Feedback for Efficient Dexterous Skill Learning
  2. 2025ACE-F: A Cross Embodiment Foldable System with Force Feedback for Dexterous Teleoperation
  3. 2025Open TeleDex: A Hardware-Agnostic Teleoperation System for Imitation Learning based Dexterous Manipulation
  4. 2024Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand
  5. 2026SEED-UMI: Sharing the Exoskeleton between human and robot for onE-to-one Dexterous demonstration ↗
  6. 2025MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
  7. 2024TelePreview: A User-Friendly Teleoperation System with Virtual Arm Assistance for Enhanced Effectiveness ↗
  8. 2025RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy