ImVR: Immersive VR Teleoperation System for General Purpose

Yulin Liu^*, Zihao He^*, Fanbo Xiang^*, Runlin Guo, Zhiao Huang, Jialin Zhang, Bo Ai, Stone Tao, Hao Su

🔧 Installation and Usage

For detailed installation and usage instructions, please refer to our documentation.

🎉 News

• [2026/4/22] Beta release! Includes basic usage of teleoperation in ManiSkill. Check out the documentation.

• [2025/6/25] Presented our work at the RSS-Dex Workshop!
• [2025/6/21] We show live VR teleoperation demos with ManiSkill at the ManiSkill booth in RSS! Most participants (95%+) successfully completed the challenging “grasp-and-insert flower into vase” task on their first try!

✅ TODO

• Tutorial for basic usage
• Release code for single arm gripper & hand teleoperation in ManiSkill
• Release code for bimanual teleoperation in ManiSkill
• Release real world teleoperation code

🤗 Citation

@inproceedings{liuimvr,
title={ImVR: Immersive VR Teleoperation System for General Purpose},
  author={Liu, Yulin and He, Zihao and Xiang, Fanbo and Guo, Runlin and Huang, Zhiao and Zhang, Jialin and Ai, Bo and Tao, Stone and Su, Hao},
  booktitle={3rd RSS Workshop on Dexterous Manipulation: Learning and Control with Diverse Data}
}

If you have any question, please feel free to mail yul266@ucsd.edu.