发表机构
University of California at Irvine; Genova Construction（加州大学尔湾分校; Genova建筑公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对建筑领域人形机器人自主性不足及劳动力短缺问题，提出结合XR与踏板控制的遥操作系统，在Unitree G1上实现工具运输100%和表面涂刷80%的成功率，验证了近期可行性。
AI 中文摘要
我们提出一个遥操作系统，使单个操作员能够在Unitree G1人形机器人上执行建筑任务，该系统将基于扩展现实（XR）的上半身控制与基于踏板的移动相结合，以实现同步操作与移动。受持续劳动力短缺、危险工作条件以及人形机器人自主性挑战的驱动，我们研究遥操作作为一种实用的近期方法，以减少工人的身体负担，同时生成高质量演示数据。我们在取自O*NET职业数据库的两项代表性建筑任务上评估该系统，并报告相对于手动基线的任务成功率和完成时间。该系统在工具运输任务上达到100%成功率，在表面涂刷任务上达到80%成功率，但遥操作所需时间显著多于手动执行。
英文摘要
We present a teleoperation system that enables a single operator to perform construction tasks on a Unitree G1 humanoid, combining extended reality (XR) based upper body control with pedal-based locomotion to enable simultaneous manipulation and locomotion. Motivated by persistent labor shortages, hazardous working conditions, and challenges in humanoid autonomy, we investigate teleoperation as a practical near-term approach for reducing physical strain on workers while generating high quality demonstration data. We evaluate the system on two representative construction tasks drawn from O*NET occupational database, and report task success and completion time relative to a manual baseline. The system achieved 100% success on tool transport and 80% success on surface painting, with teleoperation requiring substantially more time compared to manual execution.
CommentsAccepted at IROS 2026 Workshop on Future of Construction
