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.

Bunny-VisionPro是一种实时的双手熟练远程操作系统，利用虚拟现实头盔并设计了新颖的低成本设备为操作员提供触觉反馈，以提高沉浸感。该系统通过创新设计结合碰撞和奇异避免以保证安全，并在保持实时性能的同时，优于之前的系统在标准任务套件上取得更高的成功率和减少的任务完成时间。此外，高质量的远程操作演示提高了下游的模仿学习性能，提高了泛化能力。值得注意的是，Bunny-VisionPro能够实现具有挑战性的多阶段、长期视野的熟练操纵任务的模仿学习，这在之前的研究中很少有人涉及。该系统在同时处理双手操作、优先考虑安全和实时性能方面的能力使其成为推动熟练操纵和模仿学习的强大工具。

Bunny-VisionPro：实时双手灵巧遥操作的模仿学习