SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly
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arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866910049066024960 |
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| author | Liu, Xiao Baskaran, Prakash Li, Songpo Manschitz, Simon Ma, Wei Ruiken, Dirk Iba, Soshi |
| author_facet | Liu, Xiao Baskaran, Prakash Li, Songpo Manschitz, Simon Ma, Wei Ruiken, Dirk Iba, Soshi |
| contents | In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal support timing and methods. In this paper, we present SUBTA, a supported teleoperation system for bimanual assembly that couples learned intention estimation, scene-graph task planning, and context-dependent motion assists. We validate our approach through a user study (N=12) comparing standard teleoperation, motion-support only, and SUBTA. Linear mixed-effects analysis revealed that SUBTA significantly outperformed standard teleoperation in position accuracy (p<0.001, d=1.18) and orientation accuracy (p<0.001, d=1.75), while reducing mental demand (p=0.002, d=1.34). Post-experiment ratings indicate clearer, more trustworthy visual feedback and predictable interventions in SUBTA. The results demonstrate that SUBTA greatly improves both effectiveness and user experience in teleoperation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_10459 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly Liu, Xiao Baskaran, Prakash Li, Songpo Manschitz, Simon Ma, Wei Ruiken, Dirk Iba, Soshi Robotics In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to determine optimal support timing and methods. In this paper, we present SUBTA, a supported teleoperation system for bimanual assembly that couples learned intention estimation, scene-graph task planning, and context-dependent motion assists. We validate our approach through a user study (N=12) comparing standard teleoperation, motion-support only, and SUBTA. Linear mixed-effects analysis revealed that SUBTA significantly outperformed standard teleoperation in position accuracy (p<0.001, d=1.18) and orientation accuracy (p<0.001, d=1.75), while reducing mental demand (p=0.002, d=1.34). Post-experiment ratings indicate clearer, more trustworthy visual feedback and predictable interventions in SUBTA. The results demonstrate that SUBTA greatly improves both effectiveness and user experience in teleoperation. |
| title | SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.10459 |