  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.
