Humanoid robots exhibit strong adaptability in complex environments due to their human-like structure and behavior patterns. However, limited by the current level of autonomous intelligence, they still struggle to complete operations independently in high-risk and high-complexity tasks. As a critical complement, dual-arm teleoperation technology introduces human intention and judgment into the control loop, enabling precise manipulation of the robot's arms and serving as an important pathway to practical deployment. This paper systematically reviews the development of humanoid robots and their key technologies in perception, cognition, and control. It focuses on recent advances and representative applications of dual-arm teleoperation in areas such as human-robot mapping, multimodal feedback, and master-slave control. Finally, the paper discusses the challenges and future directions of dual-arm teleoperation, aiming to provide insights for further research and engineering applications.