We present ImVR, an immersive VR-based teleoperation system that places the operator in a fully 3D virtual environment for intuitive and precise robot control. Designed for general-purpose use, ImVR supports a wide range of robot configurations—including single- and dual-arm setups, parallel grippers and multi-fingered dexterous hands—while operating seamlessly in both simulation and the real world. It ensures absolute alignment between the operator’s hand and the robot’s end-effector, offers adaptive viewpoints to enhance situational awareness and precision, and enables easy deployment across diverse robotic platforms. Experiments and user studies highlight ImVR’s versatility, ease of use, and effectiveness in accelerating data collection, making it a powerful tool for large-scale robot learning and real-world manipulation tasks.
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