Bimanual XR Specification of Relative and Absolute Assembly Hierarchies for Teleoperation
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866915827402407936 |
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| author | Yang, Benjamin He, Xichen Zou, Charlie Liu, Jen-Shuo Tversky, Barbara Feiner, Steven |
| author_facet | Yang, Benjamin He, Xichen Zou, Charlie Liu, Jen-Shuo Tversky, Barbara Feiner, Steven |
| contents | We present a bimanual XR interaction approach for specifying remote assembly tasks as hierarchies of relative and absolute object constraints that specify high-level teleoperation goals for robots. Grabbing one object in each hand creates a constraint group (visualized as a hull) and groups can be nested into hierarchies. Each group can be relative (with a robot-specifiable 6DoF pose) or absolute (with an author-specified fixed 6DoF pose) in relation to its parent. A relative group specifies a subassembly that can be constructed at a location chosen by the robot software for efficiency rather than mandated by the user. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2603_01495 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Bimanual XR Specification of Relative and Absolute Assembly Hierarchies for Teleoperation Yang, Benjamin He, Xichen Zou, Charlie Liu, Jen-Shuo Tversky, Barbara Feiner, Steven Human-Computer Interaction Robotics We present a bimanual XR interaction approach for specifying remote assembly tasks as hierarchies of relative and absolute object constraints that specify high-level teleoperation goals for robots. Grabbing one object in each hand creates a constraint group (visualized as a hull) and groups can be nested into hierarchies. Each group can be relative (with a robot-specifiable 6DoF pose) or absolute (with an author-specified fixed 6DoF pose) in relation to its parent. A relative group specifies a subassembly that can be constructed at a location chosen by the robot software for efficiency rather than mandated by the user. |
| title | Bimanual XR Specification of Relative and Absolute Assembly Hierarchies for Teleoperation |
| topic | Human-Computer Interaction Robotics |
| url | https://arxiv.org/abs/2603.01495 |