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.

翻译：遥操作是采集人类演示数据的关键工具，但使用双手灵巧手控制机器人仍是一个挑战。现有的遥操作系统难以处理协调双手进行精细操作的复杂性。我们提出了Bunny-VisionPro，一个利用VR头显的实时双手灵巧遥操作系统。与以往基于视觉的遥操作系统不同，我们设计了新颖的低成本设备为操作者提供触觉反馈，从而增强了沉浸感。我们的系统通过创新的设计，在保持实时性能的同时，结合了碰撞和奇异点规避，优先保障安全性。Bunny-VisionPro在标准任务套件上超越了先前的系统，实现了更高的成功率和更短的任务完成时间。此外，高质量的遥操作演示提升了后续模仿学习的性能，带来了更好的泛化能力。值得注意的是，Bunny-VisionPro使得对具有挑战性的多阶段、长视距灵巧操作任务进行模仿学习成为可能，而这在以往工作中鲜有涉及。我们的系统能够处理双手操作，同时优先考虑安全性和实时性能，这使其成为推进灵巧操作和模仿学习的有力工具。