TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation

• URL: http://arxiv.org/abs/2505.12748v2
• Date: Mon, 15 Sep 2025 08:42:29 GMT
• Title: TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation
• Authors: Hangyu Li, Qin Zhao, Haoran Xu, Xinyu Jiang, Qingwei Ben, Feiyu Jia, Haoyu Zhao, Liang Xu, Jia Zeng, Hanqing Wang, Bo Dai, Junting Dong, Jiangmiao Pang,
• Abstract summary: We introduce TeleOpBench, a simulator-centric benchmark tailored to bimanual dexterous teleoperation.<n>Within this benchmark we implement four representative teleoperation modalities-(i) MoCap, (ii) VR device, (iii) arm-hand exoskeletons, and (iv) monocular vision tracking.
• Score: 50.261933845325636
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Teleoperation is a cornerstone of embodied-robot learning, and bimanual dexterous teleoperation in particular provides rich demonstrations that are difficult to obtain with fully autonomous systems. While recent studies have proposed diverse hardware pipelines-ranging from inertial motion-capture gloves to exoskeletons and vision-based interfaces-there is still no unified benchmark that enables fair, reproducible comparison of these systems. In this paper, we introduce TeleOpBench, a simulator-centric benchmark tailored to bimanual dexterous teleoperation. TeleOpBench contains 30 high-fidelity task environments that span pick-and-place, tool use, and collaborative manipulation, covering a broad spectrum of kinematic and force-interaction difficulty. Within this benchmark we implement four representative teleoperation modalities-(i) MoCap, (ii) VR device, (iii) arm-hand exoskeletons, and (iv) monocular vision tracking-and evaluate them with a common protocol and metric suite. To validate that performance in simulation is predictive of real-world behavior, we conduct mirrored experiments on a physical dual-arm platform equipped with two 6-DoF dexterous hands. Across 10 held-out tasks we observe a strong correlation between simulator and hardware performance, confirming the external validity of TeleOpBench. TeleOpBench establishes a common yardstick for teleoperation research and provides an extensible platform for future algorithmic and hardware innovation. Codes is now available at https://github.com/cyjdlhy/TeleOpBench .

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