Immersive Robot Teleoperation for Simulation Data Collection
TeleMovo connects PICO VR interaction with robot simulation through WebXR, providing an extensible teleoperation foundation for bimanual manipulation, deformable-object interaction, and demonstration data-collection research.
The current integration uses Genesis, with Franka Panda and X5 dual-arm examples, immersive visualization, controller-based teleoperation, and visual operation guides.
中文 · Getting started · Architecture · Contributing
- Immersive interaction — stereoscopic visualization, head tracking, and dual-controller input through the PICO browser.
- Bimanual control — relative pose mapping, gripper control, and visual guidance for coordinated manipulation.
- Deformable simulation — cloth interaction scenes built on Genesis PBD.
- Configurable deployment — local execution or remote simulation with an independent HTTPS gateway.
- Extensible foundation — robot profiles and documented interfaces for further integration.
- Follow the setup guide to prepare the environment and pinned Genesis integration.
- Prepare the robot and garment assets using the asset guide.
- Launch the selected simulation and gateway, then open the gateway address in PICO.
See the operation guide for calibration and controls.
- Episode recording, success/failure annotation, and replay.
- Dataset quality checks and LeRobot export.
- Additional robot and simulator adapters.
- Improved operator interaction and cloth-manipulation workflows.
Recording and dataset export are planned extensions to the current teleoperation interface.
Help build TeleMovo with us. Contributions to interaction design, robot adapters, data workflows, documentation, and testing are welcome. First-time contributors can start with documentation, setup improvements, or CPU tests without VR hardware.
Open an issue · Browse issues · Contribution guide · Pull requests
For substantial changes, open an issue to discuss the proposed scope and validation.
| Guide | Contents |
|---|---|
| Setup | Environment, deployment, HTTPS, and launch commands |
| Assets | Model preparation, provenance, and import |
| Operation | Calibration, controls, and visual guidance |
| Architecture | Components, coordinate frames, and protocols |
| Verification | Development checks and hardware validation |
| Experiments | Evaluation results and current validation scope |
| Troubleshooting | Connection, interaction, and simulation diagnostics |
Project-wide license selection is pending. See third-party notices for component and asset provenance. TeleMovo is an independent community project.