Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation

2026-01-26

AI Summary

This work proposes an open-source teleoperation system based on ROS 2 to address the limitations of dual-arm robotic teleoperation, including constrained workspace, unintuitive control, and inefficient data collection. The system introduces a relative motion control mechanism driven by pose changes from VR controllers, enabling intuitive operation independent of the robot’s initial configuration and effectively overcoming physical workspace boundaries. It features multiple control modes, a modular architecture, real-time visualization via RViz, and streamlined gripper control with safety reset functionality. Experimental results demonstrate that the proposed system significantly enhances the intuitiveness and safety of teleoperation while improving data acquisition efficiency and cross-platform scalability.

Technology Category

• Intelligent Robots: Manipulation
• Computer Vision: Vision for Robotics & Autonomous Driving
• Planning, Routing, and Scheduling: Replanning and Plan Repair

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Virtualization and resource management in Web systems and infrastructures
• Responsible Web: Machine-in-the-loop, human agency and autonomy
• User Modeling, Personalization and Recommendation: User modeling and simulation for interactive and conversational systems

Abstract

Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR controller pose changes to enable intuitive, pose-independent operation. The framework integrates essential usability and safety features, including real-time RViz visualization, streamlined gripper control, and a pause-and-reset function for smooth transitions. We detail a modular architecture that supports"Side-by-Side"and"Mirror"control modes to optimize operator experience across diverse platforms. Code is available at: https://github.com/Taokt/Quest2ROS2.

Problem

• bi-manual teleoperation
• VR teleoperation
• robot data collection
• workspace limitations
• pose-independent control

Innovation

• relative motion-based control
• bi-manual VR teleoperation
• ROS 2 framework
• modular architecture
• workspace scaling