Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation

Jialong Li; Zhenguo Wang; Tianci Wang; Maj Stenmark; Volker Krueger

doi:10.1145/3757279.3788806

Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation

Jialong Li, Zhenguo Wang, Tianci Wang, Maj Stenmark, Volker Krueger

Lund University

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR controller pose changes to enable intuitive, pose-independent operation. The framework integrates essential usability and safety features, including real-time RViz visualization, streamlined gripper control, and a pause-and-reset function for smooth transitions. We detail a modular architecture that supports "Side-by-Side"and "Mirror"control modes to optimize operator experience across diverse platforms. Code is available at: https://github.com/Taokt/Quest2ROS2.

Original language	English
Title of host publication	HRI 2026 - Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction
Editors/authors	Ilaria Torre, Lynne Baillie, William D. Smart, Maartje De Graaf, Matthew Gombolay
Publisher	Association for Computing Machinery (ACM)
Pages	1288-1292
Number of pages	5
ISBN (Electronic)	9798400721281
DOIs	https://doi.org/10.1145/3757279.3788806
Publication status	Published - 2026 Mar
Event	21st ACM/IEEE International Conference on Human-Robot Interaction, HRI 2026 - Edinburgh, United Kingdom Duration: 2026 Mar 16 → 2026 Mar 19

Conference

Conference	21st ACM/IEEE International Conference on Human-Robot Interaction, HRI 2026
Country/Territory	United Kingdom
City	Edinburgh
Period	2026/03/16 → 2026/03/19

Subject classification (UKÄ)

Robotics and automation

Free keywords

bi-manual manipulation
relative pose control
ros2
teleoperation

Access to Document

10.1145/3757279.3788806

Cite this

Li, J., Wang, Z., Wang, T., Stenmark, M., & Krueger, V. (2026). Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation. In I. Torre, L. Baillie, W. D. Smart, M. D. Graaf, & M. Gombolay (Eds.), HRI 2026 - Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction (pp. 1288-1292). Association for Computing Machinery (ACM). https://doi.org/10.1145/3757279.3788806

Li, Jialong ; Wang, Zhenguo ; Wang, Tianci et al. / Quest2ROS2 : A ROS 2 Framework for Bi-manual VR Teleoperation. HRI 2026 - Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction. editor / Ilaria Torre ; Lynne Baillie ; William D. Smart ; Maartje De Graaf ; Matthew Gombolay. Association for Computing Machinery (ACM), 2026. pp. 1288-1292

@inproceedings{dadeea92771a4f5796298478072a0935,

title = "Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation",

abstract = "Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR controller pose changes to enable intuitive, pose-independent operation. The framework integrates essential usability and safety features, including real-time RViz visualization, streamlined gripper control, and a pause-and-reset function for smooth transitions. We detail a modular architecture that supports {"}Side-by-Side{"}and {"}Mirror{"}control modes to optimize operator experience across diverse platforms. Code is available at: https://github.com/Taokt/Quest2ROS2.",

keywords = "bi-manual manipulation, relative pose control, ros2, teleoperation",

author = "Jialong Li and Zhenguo Wang and Tianci Wang and Maj Stenmark and Volker Krueger",

year = "2026",

month = mar,

doi = "10.1145/3757279.3788806",

language = "English",

pages = "1288--1292",

editor = "Ilaria Torre and Lynne Baillie and Smart, \{William D.\} and Graaf, \{Maartje De\} and Matthew Gombolay",

booktitle = "HRI 2026 - Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction",

publisher = "Association for Computing Machinery (ACM)",

address = "United States",

note = "21st ACM/IEEE International Conference on Human-Robot Interaction, HRI 2026 ; Conference date: 16-03-2026 Through 19-03-2026",

}

Li, J, Wang, Z, Wang, T, Stenmark, M & Krueger, V 2026, Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation. in I Torre, L Baillie, WD Smart, MD Graaf & M Gombolay (eds), HRI 2026 - Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction. Association for Computing Machinery (ACM), pp. 1288-1292, 21st ACM/IEEE International Conference on Human-Robot Interaction, HRI 2026, Edinburgh, United Kingdom, 2026/03/16. https://doi.org/10.1145/3757279.3788806

Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation. / Li, Jialong; Wang, Zhenguo; Wang, Tianci et al.
HRI 2026 - Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction. ed. / Ilaria Torre; Lynne Baillie; William D. Smart; Maartje De Graaf; Matthew Gombolay. Association for Computing Machinery (ACM), 2026. p. 1288-1292.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Quest2ROS2

T2 - 21st ACM/IEEE International Conference on Human-Robot Interaction, HRI 2026

AU - Li, Jialong

AU - Wang, Zhenguo

AU - Wang, Tianci

AU - Stenmark, Maj

AU - Krueger, Volker

PY - 2026/3

Y1 - 2026/3

N2 - Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR controller pose changes to enable intuitive, pose-independent operation. The framework integrates essential usability and safety features, including real-time RViz visualization, streamlined gripper control, and a pause-and-reset function for smooth transitions. We detail a modular architecture that supports "Side-by-Side"and "Mirror"control modes to optimize operator experience across diverse platforms. Code is available at: https://github.com/Taokt/Quest2ROS2.

AB - Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR controller pose changes to enable intuitive, pose-independent operation. The framework integrates essential usability and safety features, including real-time RViz visualization, streamlined gripper control, and a pause-and-reset function for smooth transitions. We detail a modular architecture that supports "Side-by-Side"and "Mirror"control modes to optimize operator experience across diverse platforms. Code is available at: https://github.com/Taokt/Quest2ROS2.

KW - bi-manual manipulation

KW - relative pose control

KW - ros2

KW - teleoperation

U2 - 10.1145/3757279.3788806

DO - 10.1145/3757279.3788806

M3 - Paper in conference proceeding

AN - SCOPUS:105035838742

SP - 1288

EP - 1292

BT - HRI 2026 - Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction

A2 - Torre, Ilaria

A2 - Baillie, Lynne

A2 - Smart, William D.

A2 - Graaf, Maartje De

A2 - Gombolay, Matthew

PB - Association for Computing Machinery (ACM)

Y2 - 16 March 2026 through 19 March 2026

ER -

Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation

Abstract

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Cite this