发表机构
Brown University; Massachusetts Institute of Technology（布朗大学; 麻省理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出开源VR遥操作系统GHOST，可让单操作员通过机载传感以直接低级命令控制两台移动操作机器人，其在多机器人遥操作任务上的成功率和速度均优于商用平板界面。
AI 中文摘要
同时遥操作多个机器人可提供额外视角并实现协调控制，但面临诸多基础挑战：系统必须连贯呈现传感器数据，允许操作员管理多个机器人的基座、机械臂和摄像头，同时保持低延迟。当前多机器人遥操作系统需要多名操作员、依赖自主功能，或限制操作员只能使用高级命令。本文提出GHOST：一款开源VR遥操作系统，仅通过机载传感即可让单个操作员使用直接低级命令控制两台移动操作机器人。GHOST通过对齐机器人RGB-D摄像头的实时点云创建异中心3D工作空间，其中通过基于学习的补全来提升场景覆盖度，以辅助操作员的空间感知。在控制方面，操作员使用模式切换架构，可单独命令任一机器人或同时命令两台机器人。对15名新手参与者的实验表明，其成功率是商用平板界面的1.6至4倍；针对9项具有挑战性的双机器人任务的专家实验显示，该系统完成了两项平板界面无法完成的任务，且平均速度比平板快1.47倍。网址和代码：this https URL。
英文摘要
Teleoperating multiple robots simultaneously enables additional views and coordinated control. Yet, it poses fundamental challenges: the system must present sensor data cohesively and allow operators to manage multiple robot bases, arms, and cameras while maintaining low latency. Current multi-robot teleoperation systems require multiple operators, rely on autonomy, or restrict operators to high-level commands. We present GHOST: an open-source VR teleoperation system that enables single operator control of two mobile manipulators via direct lowlevel commands using only onboard sensing. GHOST creates an exocentric 3D workspace by aligning real-time point clouds from the robots' RGB-D cameras, where scene coverage is improved through learning-based completion to aid operator spatial awareness. For control, the operator uses a mode-switching architecture to command either robot individually or both robots simultaneously. Experiments with 15 novice participants demonstrate 1.6-4x the success rate of an off-the-shelf tablet interface. For experts across nine challenging dual-robot tasks, our system enabled completion of two tasks that were infeasible with the tablet, and was 1.47x faster on average than the tablet. Website and code: https://h2r.github.io/GHOST/.
