We use the da Vinci Research Kit (dVRK) for a lot of experiments in the lab. The dVRK system comes with software that supports teleoperation. However, the teleoperation is implemented with inverse kinematics which is computationally expensive and not suitable for force feedback. During my first year at CHARM, I worked on implementing and improving an operational space controller for dVRK teleoperation, and conducted an experiment to investigate learning and adaptation of the teleoperated surgical robots.