Recent advancements in robotic loco-manipulation have leveraged Virtual
Reality (VR) to enhance the precision and immersiveness of teleoperation
systems, significantly outperforming traditional methods reliant on 2D camera
feeds and joystick controls. Despite these advancements, challenges remain,
particularly concerning user experience across different setups. This paper
introduces a novel VR-based teleoperation framework designed for a robotic
manipulator integrated onto a mobile platform. Central to our approach is the
application of Gaussian splatting, a technique that abstracts the manipulable
scene into a VR environment, thereby enabling more intuitive and immersive
interactions. Users can navigate and manipulate within the virtual scene as if
interacting with a real robot, enhancing both the engagement and efficacy of
teleoperation tasks. An extensive user study validates our approach,
demonstrating significant usability and efficiency improvements. Two-thirds
(66%) of participants completed tasks faster, achieving an average time
reduction of 43%. Additionally, 93% preferred the Gaussian Splat interface
overall, with unanimous (100%) recommendations for future use, highlighting
improvements in precision, responsiveness, and situational awareness. Finally,
we demonstrate the effectiveness of our framework through real-world
experiments in two distinct application scenarios, showcasing the practical
capabilities and versatility of the Splat-based VR interface.

Cet article explore les excursions dans le temps et leurs implications.

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