Unitree xr_teleoperate

Unitree's open-source XR headset teleoperation program, used to control its humanoid robots and record training data.

This is Unitree Robotics's open-source teleoperation codebase on GitHub, adapted from Open-TeleVision. The operator wears an Apple Vision Pro, PICO 4 Ultra Enterprise, or Meta Quest 3; the headset captures head and hand pose through a browser page (the Vuer interface, streaming video over WebRTC), and the program then uses inverse kinematics (computing joint angles from a target hand position) to drive the arms of humanoid robots such as the G1 and H1, mapping finger motion onto dexterous hands or grippers like the Dex3-1 or BrainCo, while streaming the robot's head-camera view back to the headset. It's mainly used to collect imitation-learning data, recording timestamped joint states, end-effector poses, and images for every episode. According to the repository, version 1.6 from July 2026 added support for the H2, R1, and BrainCo dexterous hands.

ExampleA researcher wears an Apple Vision Pro to remotely control a Unitree G1 folding a towel, recording several dozen demonstrations along the way, then uses them to train ACT or a diffusion policy.

Also called

avp_teleoperate

Related

Teleoperation · VR Teleoperation · Open-TeleVision · Unitree G1 · Motion Retargeting · Vuer

Sources

unitreerobotics/xr_teleoperate (GitHub)

As of

2026-07