Described is system for tele-robotic operations over time-delayed communication links. Sensor data is acquired from at least one sensor for sensing surroundings of a robot having at least one robotic arm for manipulating an object. A three-dimensional model of the sensed surroundings is generated, and the sensor data is fit to the three-dimensional model. Using the three-dimensional model, a user demonstrates a movement path for the at least one robotic arm. A flow field representing the movement path is generated and combined with obstacle-repellent forces to provide force feedback to the user through a haptic device. The flow field comprises a set of parameters, and the set of parameters are transmitted to the robot to execute a movement of the at least one robotic arm for manipulating the object.