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arXiv · 2511.08865

MirrorLimb: Implementing hand pose acquisition and robot teleoperation based on RealMirror

Cong Tai·Hansheng Wu·Haixu Long·Zhengbin Long·Zhaoyu Zheng·Haodong Xiang·Tao Shen
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Abstract

In this work, we present a PICO-based robot remote operating framework that enables low-cost, real-time acquisition of hand motion and pose data, outperforming mainstream visual tracking and motion capture solutions in terms of cost-effectiveness. The framework is natively compatible with the RealMirror ecosystem, offering ready-to-use functionality for stable and precise robotic trajectory recording within the Isaac simulation environment, thereby facilitating the construction of Vision-Language-Action (VLA) datasets. Additionally, the system supports real-time teleoperation of a variety of end-effector-equipped robots, including dexterous hands and robotic grippers. This work aims to lower the technical barriers in the study of upper-limb robotic manipulation, thereby accelerating advancements in VLA-related research.

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Cong Tai, Hansheng Wu, Haixu Long, Zhengbin Long, Zhaoyu Zheng, Haodong Xiang, Tao Shen. 2025-11-12. MirrorLimb: Implementing hand pose acquisition and robot teleoperation based on RealMirror. https://arxiv.org/abs/2511.08865

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