Gesture First, LLM-Assisted Voice Complement: Exploring Multimodal Robot 'Puppeteer' Teleoperation Via Virtual Counterpart in Augmented Reality
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866916016839196672 |
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| author | Zhang, Yuchong Orthmann, Bastian Ji, Shichen Welle, Michael Van Haastregt, Jonne Kragic, Danica |
| author_facet | Zhang, Yuchong Orthmann, Bastian Ji, Shichen Welle, Michael Van Haastregt, Jonne Kragic, Danica |
| contents | Robot teleoperation via augmented reality (AR) offers a promising path toward more intuitive human-robot interaction (HRI). We present a head-mounted AR 'puppeteer' system in which users control a physical robot by interacting with its virtual counterpart robot using large language model (LLM)-assisted voice commands and hand-gesture interaction on the Meta Quest 3. In a within-subject user study with 42 participants performing an AR-based robotic pick-and-place pattern-matching task, we empirically compare two interaction conditions: gesture-only (GO) and combined voice+gesture (VG) on performance and user experience (UX). In VG, voice and gesture operate in a sequential role-allocated manner, with voice handling high-level navigation and gesture handling fine manipulation. Our results show that GO currently provides more reliable and efficient control for this time-critical task, while VG introduces additional flexibility but also latency and recognition issues that can increase workload. We additionally analyze how prior robotics expertise differentiates performance and UX across conditions. Based on these findings, we distill a set of design guidelines for AR 'puppeteer' metaphoric robot teleoperation, framing multimodality as an adaptive strategy that must balance efficiency, robustness, and user expertise rather than assuming that additional modalities are universally beneficial. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2506_13189 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Gesture First, LLM-Assisted Voice Complement: Exploring Multimodal Robot 'Puppeteer' Teleoperation Via Virtual Counterpart in Augmented Reality Zhang, Yuchong Orthmann, Bastian Ji, Shichen Welle, Michael Van Haastregt, Jonne Kragic, Danica Human-Computer Interaction Robotics Robot teleoperation via augmented reality (AR) offers a promising path toward more intuitive human-robot interaction (HRI). We present a head-mounted AR 'puppeteer' system in which users control a physical robot by interacting with its virtual counterpart robot using large language model (LLM)-assisted voice commands and hand-gesture interaction on the Meta Quest 3. In a within-subject user study with 42 participants performing an AR-based robotic pick-and-place pattern-matching task, we empirically compare two interaction conditions: gesture-only (GO) and combined voice+gesture (VG) on performance and user experience (UX). In VG, voice and gesture operate in a sequential role-allocated manner, with voice handling high-level navigation and gesture handling fine manipulation. Our results show that GO currently provides more reliable and efficient control for this time-critical task, while VG introduces additional flexibility but also latency and recognition issues that can increase workload. We additionally analyze how prior robotics expertise differentiates performance and UX across conditions. Based on these findings, we distill a set of design guidelines for AR 'puppeteer' metaphoric robot teleoperation, framing multimodality as an adaptive strategy that must balance efficiency, robustness, and user expertise rather than assuming that additional modalities are universally beneficial. |
| title | Gesture First, LLM-Assisted Voice Complement: Exploring Multimodal Robot 'Puppeteer' Teleoperation Via Virtual Counterpart in Augmented Reality |
| topic | Human-Computer Interaction Robotics |
| url | https://arxiv.org/abs/2506.13189 |