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This paper reports on Team Northeastern's Avatar system for telepresence, andour holistic approach to meet the ANA Avatar XPRIZE Final testing taskrequirements. The system features a dual-arm configuration with hydraulicallyactuated glove-gripper pair for haptic force feedback. Our proposed Avatarsystem was evaluated in the ANA Avatar XPRIZE Finals and completed all 10tasks, scored 14.5 points out of 15.0, and received the 3rd Place Award. Weprovide the details of improvements over our first generation Avatar, coveringmanipulation, perception, locomotion, power, network, and controller design. Wealso extensively discuss the major lessons learned during our participation inthe competition.

Team Northeastern's Approach to ANA XPRIZE Avatar Final Testing: A Holistic Approach to Telepresence and Lessons Learned