  We propose a teleoperation system that uses a single RGB-D camera as the
human motion capture device. Our system can perform general manipulation tasks
such as cloth folding, hammering and 3mm clearance peg in hole. We propose the
use of non-Cartesian oblique coordinate frame, dynamic motion scaling and
reposition of operator frames to increase the flexibility of our teleoperation
system. We hypothesize that lowering the barrier of entry to teleoperation will
allow for wider deployment of supervised autonomy system, which will in turn
generates realistic datasets that unlock the potential of machine learning for
robotic manipulation. Demo of our systems are available online
https://sites.google.com/view/manipulation-teleop-with-rgbd
