https://peertube.laas.fr/videos/watch/3647a6fd-5633-4c5a-b799-3ec5b2447157 This talk presents the design, implementation, and critical analysis of a real-time bimanual teleoperation system for the Unitree H1-2 humanoid robot, as well as the creation and establishment of a protocol for building a dataset from scratch. The operator controls both arms (7 degrees of freedom each) through their own wrist movements, captured by a Qualisys optical motion capture system, while the Inspire Hands are teleoperated via a hand exoskeleton worn by the same user. The software pipeline developed converts Cartesian targets into joint commands via differential inverse kinematics (Pinocchio + Pink), backed by a multi-layer safety architecture: adaptive 1€ filtering, a temporal buffer, and kinematic bounds built into the IK. The integration of the Inspire Hands (6 DoF) opens the way to data collection for object manipulation with a humanoid robot — a task more complicated than it appears. A real incident — the robot's fall on June 3, 2026 — showed that an overly abrupt arm command is enough to destabilize a balance controller that had never encountered this case during training. The rest of the work therefore focused on the robustness of the teleoperation, then on setting up the collection pipeline: synchronized recording of states, commands, tactile data, and three video streams, episode segmentation, and export in LeRobot format. As a side project, a comparison between inverse kinematics, reinforcement learning, and residual learning was carried out as supplementary work, for my own personal interest. Wed, 02 Sep 2026 11:21:21 GMT https://validator.w3.org/feed/docs/rss2.html PeerTube - https://peertube.laas.fr https://peertube.laas.fr/lazy-static/avatars/d5a80afa-76a2-4f1e-84ca-ce63a74b79ab.png https://peertube.laas.fr/videos/watch/3647a6fd-5633-4c5a-b799-3ec5b2447157 All rights reserved, unless otherwise specified in the terms specified at https://peertube.laas.fr/about and potential licenses granted by each content's rightholder.