Teleop

Teleoperation is the art of controlling a robot from a distance (prefix "tele-" comes from the Ancient Greek word tēle, which means "far off, at a distance, far away, far from"). Robots specifically designed to be teleoperated by a human are known as a Proxy.

Whole Body Teleop

In whole-body teleop, the user controls a hardware replica of the robot directly. The real robot directly mimcis the pose of the replica robot.

• https://mobile-aloha.github.io/
• https://www.youtube.com/watch?v=PFw5hwNVhbA
• https://x.com/haoshu_fang/status/1707434624413306955
• https://x.com/aditya_oberai/status/1762637503495033171
• https://what-is-proxy.com
• https://github.com/wuphilipp/gello_software

VR Teleop

In VR teleop the user controls a simulated version of the robot. The robot and VR headset are usually on the same LAN and communication is done via gRPC, WebRTC, ZMQ.

• https://github.com/Improbable-AI/VisionProTeleop
• https://github.com/fazildgr8/VR_communication_mujoco200
• https://github.com/pollen-robotics/reachy2021-unity-package
• https://freetale.medium.com/unity-grpc-in-2023-98b739cb115
• https://x.com/AndreTI/status/1780665435999924343
• https://holo-dex.github.io/
• https://what-is-proxy.com
• https://github.com/ToruOwO/hato/tree/main?tab=readme-ov-file#collecting-demonstration-data
• https://github.com/rail-berkeley/oculus_reader

Controller Teleop

In controlelr teleop, the user uses joysticks, keyborads, and other controllers to control the robot. The buttons map to hardcoded behaviors on the robot.

• https://github.com/ros-teleop
• https://x.com/ShivinDass/status/1606156894271197184
• https://what-is-proxy.com

Latency

• https://ennerf.github.io/2016/09/20/A-Practical-Look-at-Latency-in-Robotics-The-Importance-of-Metrics-and-Operating-Systems.html
• https://link.springer.com/article/10.1007/s10846-022-01749-3
• https://twitter.com/watneyrobotics/status/1769058250731999591