在沉浸式化身机器人中集成开放世界共享控制
Integrating Open-World Shared Control in Immersive Avatars
AI总结：
针对遥操作化身机器人操作员任务完成能力不及亲自操作的问题，提出融合开放世界共享控制的框架，通过统一界面、减少视野遮挡保留接口流畅性，实验证实其能显著提升任务完成速度与可靠性。
摘要：
遥操作化身机器人可让人们将自身的操作技能迁移到难以进入或存在危险的工作环境中。现有系统能够让操作员直接控制机器人的众多部件，使其沉浸在远程环境中，但操作员完成任务的能力仍不及亲自操作时的水平。我们提出一个将开放世界共享控制融入化身机器人的框架，以结合直接控制与共享控制的优势。该框架通过最大程度减少对操作员视野的遮挡，且为直接控制、共享控制和完全自主控制采用同一交互界面，保留了我们化身机器人接口的流畅性。在一项有19名受试者参与的人体研究中，我们发现使用该框架的操作员完成一系列任务的速度和可靠性显著高于未使用该框架的操作员。
英文摘要：
Teleoperated avatar robots allow people to transport their manipulation skills to environments that may be difficult or dangerous to work in. Current systems are able to give operators direct control of many components of the robot to immerse them in the remote environment, but operators still struggle to complete tasks as competently as they could in person. We present a framework for incorporating open-world shared control into avatar robots to combine the benefits of direct and shared control. This framework preserves the fluency of our avatar interface by minimizing obstructions to the operator's view and using the same interface for direct, shared, and fully autonomous control. In a human subjects study (N=19), we find that operators using this framework complete a range of tasks significantly more quickly and reliably than those that do not.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
