VR Teleoperation

Human-in-the-loop Planner

We have designed a VR teleoperation interface inspired by interfaces used in the DARPA Robotics Challenge (DRC). Our interface is a human-in-the-loop planning interface, where operators can set goals and view, modify, and approve the robot's plans. Our waypoints are Functional Waypoints which enable the operator to not only set goals for the desired trajectory but also enable them to send additional commands to alter the robot’s state at these intermediate points. Stay tuned for new results (In submission)!

Publications

Gregory LeMasurier, James Tukpah, Murphy Wonsick, Jordan Allspaw, Brendan Hertel, Jacob Epstein, Reza Azadeh, Taskin Padir, Holly A. Yanco, and Elizabeth Phillips. Comparing a 2D Keyboard and Mouse Interface to Virtual Reality for Human-in-the-Loop Robot Planning for Mobile Manipulation. In Proceedings of the 2024 IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Pasadena, CA, August 2024.

Jordan Allspaw, Gregory LeMasurier, Elizabeth Phillips, and Holly A. Yanco. Participant Training for Virtual Reality User Studies: Lessons Learned and Open Questions. ACM/IEEE HRI 2024 Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI), Boulder, CO, March 2024.

Jordan Allspaw, Gregory LeMasurier, and Holly A. Yanco. Comparing Performance Between Different Implementations of ROS for Unity. ACM/IEEE HRI 2023 Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI), Stockholm, Sweden, March 2023.

Gregory LeMasurier, Jordan Allspaw, Murphy Wonsick, James Tukpah, Taskin Padir, Holly Yanco, and Elizabeth Phillips. Designing a User Study for Comparing 2D and VR Human-in-the-Loop Robot Planning Interfaces. ACM/IEEE HRI 2022 Workshop on 5th International Workshop on Virtual, Augmented, and Mixed Reality for HRI, March 2022.

Gregory LeMasurier, Jordan Allspaw, and Holly A. Yanco. Semi-Autonomous Planning and Visualization in Virtual Reality. ACM/IEEE HRI 2021 Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI), March 2021.

Jordan Allspaw, Gregory LeMasurier, and Holly Yanco. Implementing Virtual Reality for Teleoperation of a Humanoid Robot. ACM/IEEE HRI 2020 Workshop on Virtual, Augmented, and Mixed Reality for Human-Robot Interactions (VAM-HRI), March 2020.

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