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arXiv · 2502.09142

LLM-Driven Augmented Reality Puppeteer: Controller-Free Voice-Commanded Robot Teleoperation

Yuchong Zhang·Bastian Orthmann·Michael C. Welle·Jonne Van Haastregt·Danica Kragic
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Abstract

The integration of robotics and augmented reality (AR) presents transformative opportunities for advancing human-robot interaction (HRI) by improving usability, intuitiveness, and accessibility. This work introduces a controller-free, LLM-driven voice-commanded AR puppeteering system, enabling users to teleoperate a robot by manipulating its virtual counterpart in real time. By leveraging natural language processing (NLP) and AR technologies, our system -- prototyped using Meta Quest 3 -- eliminates the need for physical controllers, enhancing ease of use while minimizing potential safety risks associated with direct robot operation. A preliminary user demonstration successfully validated the system's functionality, demonstrating its potential for safer, more intuitive, and immersive robotic control.

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Yuchong Zhang, Bastian Orthmann, Michael C. Welle, Jonne Van Haastregt, Danica Kragic. 2025-02-13. LLM-Driven Augmented Reality Puppeteer: Controller-Free Voice-Commanded Robot Teleoperation. https://arxiv.org/abs/2502.09142

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