First-person humanoid teleoperation ties access to side and rear targets to operator rotation. We present coupled visual--motor remapping, pairing a panoramic azimuth warp with its inverse upper-limb yaw transform. A working prototype implements Global Zoom (GZ) and Focus+Context (F+C). In a within-subject study (N=8); 72 trials), GZ had the largest completion count (23/24; Fixed: 20/24; F+C: 21/24), whereas F+C was preferred by 6/8 participants. Therefore, completion and preference favored different mappings in this sample.
Figures & tables
Figure 1. Coupled remapping brings side and rear robot targets into frontal operator space while matching displayed and commanded reach directions; panels show Fixed, Global Zoom, and Focus+Context.
Figure 2. Video flows robot–host–HMD; tracking and viewport state return for inverse mapping and upper-limb control.
Figure 3. Fixed preserves identity; Global Zoom uniformly compresses 360° into 180°; Focus+Context preserves more central detail with an inverse nonlinear reach mapping.
Figure 4. Participants moved bags from front ( ±30∘ ), side ( ±90∘ ), or rear ( ±120∘ ) into the central area. Completion required the entire bag inside the 40 cm outer frame; trials stopped after five knock-overs or five minutes.
Condition
Front
Side
Rear
Total
Pref.
Fixed
8/8
8/8
4/8
20/24
1/8
GZ
8/8
7/8
8/8
23/24
1/8
F+C
8/8
8/8
5/8
21/24
6/8
Table 1. Completed trials and overall-preference votes ( N=8 ).
Robot teleoperation studies how people remotely control robots through interfaces, sensing, feedback, and autonomy, despite distance, delay, and embodiment gaps.
The BioRobotics Institute, Scuola Superiore Sant’Anna; Pisa, Italy · Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna; Pisa, Italy