通过全息拖拽实现机器人远程精准操作，提升危险环境作业效率。
HoloSpot: Intuitive Object Manipulation via Mixed Reality Drag-and-Drop
- 将扫描房间生成全息缩略模型，支持直观拖拽控制
- 基于Spot-Compose框架实时转换指令，完成拾取放置任务
- 适合救援、高危环境等需要人机协同的场景
通过混合现实（MR）技术，人类可与机器人进行新型直观交互，适用于高风险环境下的远程操作，如灾害响应、高辐射或有毒化学品区域。本文提出一种界面系统，将扫描后的房间以缩小版‘玩具屋’全息影像呈现，用户可通过简单拖拽方式选择并操控物体。系统基于近期提出的Spot-Compose框架，将拖拽命令实时转化为机器人动作。该基于Unity的应用提供交互式教程与友好体验，确保易用性。通过端到端测试验证了系统在执行拾取与放置任务中的能力，用户研究也证实了界面的直观性。结果表明该接口显著提升了用户体验与操作效率。本工作为未来多样化应用中的人机无缝协作奠定了坚实基础。
原文摘要 · Abstract (English)
Human-robot interaction through mixed reality (MR) technologies enables novel, intuitive interfaces to control robots in remote operations. Such interfaces facilitate operations in hazardous environments, where human presence is risky, yet human oversight remains crucial. Potential environments include disaster response scenarios and areas with high radiation or toxic chemicals. In this paper we present an interface system projecting a 3D representation of a scanned room as a scaled-down 'dollhouse' hologram, allowing users to select and manipulate objects using a straightforward drag-and-drop interface. We then translate these drag-and-drop user commands into real-time robot actions based on the recent Spot-Compose framework. The Unity-based application provides an interactive tutorial and a user-friendly experience, ensuring ease of use. Through comprehensive end-to-end testing, we validate the system's capability in executing pick-and-place tasks and a complementary user study affirms the interface's intuitive controls. Our findings highlight the advantages of this interface in improving user experience and operational efficiency. This work lays the groundwork for a robust framework that advances the potential for seamless human-robot collaboration in diverse applications. Paper website: https://holospot.github.io/
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