HoloSpot: Intuitive Object Manipulation via Mixed Reality Drag-and-Drop

TL;DR

HoloSpot introduces an intuitive mixed reality interface for remote robot manipulation, enabling users to control robots via a holographic drag-and-drop system that enhances user experience and operational efficiency.

Contribution

This work presents a novel MR interface system that translates user drag-and-drop commands into real-time robot actions, integrating a 3D holographic environment with the Spot-Compose framework.

Findings

Successful execution of pick-and-place tasks in testing

User study confirms intuitive control and ease of use

System improves operational efficiency in remote robot manipulation

Abstract

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/