UniBiDex: A Unified Teleoperation Framework for Robotic Bimanual Dexterous Manipulation

We present UniBiDex, a unified teleoperation framework for robotic bimanual dexterous manipulation that supports both VR-based and leader—follower input modalities. UniBiDex enables real-time, contact-rich dual-arm teleoperation by integrating heterogeneous input devices into a shared control stack with consistent kinematic treatment and safety guarantees. The framework employs null-space control to optimize bimanual configurations, ensuring smooth, collision-free and singularity-aware motion across tasks. We validate UniBiDex on a long-horizon kitchen-tidying task involving five sequential manipulation subtasks, demonstrating higher task success rates, smoother trajectories, and improved robustness compared to strong baselines. By releasing all hardware and software components as open-source, we aim to lower the barrier to collecting large-scale, high-quality human demonstration datasets and accelerate progress in robot learning.