  Despite recent advancement in virtual reality technology, teleoperating a
high DoF robot to complete dexterous tasks in cluttered scenes remains
difficult. In this work, we propose a system that allows the user to
teleoperate a Fetch robot to perform grasping in an easy and intuitive way,
through exploiting the rich environment information provided by the virtual
reality space. Our system has the benefit of easy transferability to different
robots and different tasks, and can be used without any expert knowledge. We
tested the system on a real fetch robot, and a video demonstrating the
effectiveness of our system can be seen at https://youtu.be/1-xW2Bx_Cms.
