{"id":"https://openalex.org/W4405786502","doi":"https://doi.org/10.1109/iros58592.2024.10802544","title":"User-customizable Shared Control for Robot Teleoperation via Virtual Reality","display_name":"User-customizable Shared Control for Robot Teleoperation via Virtual Reality","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786502","doi":"https://doi.org/10.1109/iros58592.2024.10802544"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802544","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100710208","display_name":"Rui Luo","orcid":"https://orcid.org/0000-0003-3555-5826"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rui Luo","raw_affiliation_strings":["Northeastern University,Institute for Experiential Robotics (IER),Boston,Massachusetts,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Institute for Experiential Robotics (IER),Boston,Massachusetts,USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075977414","display_name":"Mark Zolotas","orcid":"https://orcid.org/0000-0002-7672-940X"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Zolotas","raw_affiliation_strings":["Northeastern University,Institute for Experiential Robotics (IER),Boston,Massachusetts,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Institute for Experiential Robotics (IER),Boston,Massachusetts,USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112219914","display_name":"Drake Moore","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Drake Moore","raw_affiliation_strings":["Northeastern University,Institute for Experiential Robotics (IER),Boston,Massachusetts,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Institute for Experiential Robotics (IER),Boston,Massachusetts,USA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009032681","display_name":"Ta\u015fk\u0131n Pad\u0131r","orcid":"https://orcid.org/0000-0001-5123-5801"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ta\u015fk\u0131n Pad\u0131r","raw_affiliation_strings":["Northeastern University,Institute for Experiential Robotics (IER),Boston,Massachusetts,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University,Institute for Experiential Robotics (IER),Boston,Massachusetts,USA","institution_ids":["https://openalex.org/I12912129"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12196","last_page":"12203"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9304999709129333,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9127007126808167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7275298833847046},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.7270509600639343},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6982832551002502},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5151656866073608},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.4821000397205353},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4274919629096985},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3378695249557495},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14542359113693237}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9127007126808167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7275298833847046},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.7270509600639343},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6982832551002502},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5151656866073608},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.4821000397205353},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4274919629096985},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3378695249557495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14542359113693237}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802544","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1663326713","https://openalex.org/W1978543564","https://openalex.org/W2049770991","https://openalex.org/W2084851532","https://openalex.org/W2097919178","https://openalex.org/W2105925198","https://openalex.org/W2116113712","https://openalex.org/W2144281619","https://openalex.org/W2280792794","https://openalex.org/W2483674195","https://openalex.org/W2766053765","https://openalex.org/W2784881541","https://openalex.org/W2790754119","https://openalex.org/W2806711014","https://openalex.org/W2889010809","https://openalex.org/W2962776080","https://openalex.org/W2978363333","https://openalex.org/W3004343695","https://openalex.org/W3011722025","https://openalex.org/W3033280719","https://openalex.org/W3036441542","https://openalex.org/W3038934110","https://openalex.org/W3129627899","https://openalex.org/W3133184250","https://openalex.org/W3188067267","https://openalex.org/W3190260567","https://openalex.org/W3199240265","https://openalex.org/W3207966700","https://openalex.org/W4200444831","https://openalex.org/W4312682921","https://openalex.org/W4313952519","https://openalex.org/W4318953217","https://openalex.org/W4323644271","https://openalex.org/W4389667471"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"Shared":[0],"control":[1,19,38,63,83,121],"can":[2,39],"ease":[3],"and":[4,43,75,107,188,193],"enhance":[5],"a":[6,58,98,111,124,143],"human":[7],"operator\u2019s":[8],"ability":[9],"to":[10,34,67,71,80,148,159,169,179],"teleoperate":[11],"robots,":[12],"particularly":[13],"for":[14,123],"intricate":[15],"tasks":[16],"demanding":[17],"fine":[18],"over":[20,190],"multiple":[21],"degrees":[22],"of":[23,47,61,92],"freedom.":[24],"However,":[25],"the":[26,48,69,89,93,131,150,172,182],"arbitration":[27,70,94,173],"process":[28],"dictating":[29],"how":[30],"much":[31],"autonomous":[32],"assistance":[33],"administer":[35],"in":[36,127,146,181,186],"shared":[37,62,82,120,195],"confuse":[40],"novice":[41],"operators":[42,66],"impede":[44],"their":[45,72],"understanding":[46],"robot\u2019s":[49],"behavior.":[50],"To":[51],"overcome":[52],"these":[53,104],"adverse":[54],"side-effects,":[55],"we":[56,101],"propose":[57],"novel":[59],"formulation":[60],"that":[64,166],"enables":[65],"tailor":[68],"unique":[73],"capabilities":[74],"preferences.":[76],"Unlike":[77],"prior":[78],"approaches":[79],"\"customizable\"":[81],"where":[84],"users":[85,167],"could":[86],"indirectly":[87],"modify":[88],"latent":[90],"parameters":[91,105,174],"function":[95],"by":[96],"issuing":[97],"feedback":[99],"command,":[100],"instead":[102],"make":[103],"observable":[106],"directly":[108],"editable":[109],"via":[110],"virtual":[112],"reality":[113],"(VR)":[114],"interface.":[115],"We":[116],"present":[117],"our":[118],"user-customizable":[119],"method":[122],"teleoperation":[125,192],"task":[126],"SE(3),":[128],"known":[129],"as":[130],"buzz":[132],"wire":[133],"game.":[134,151],"A":[135],"user":[136],"study":[137],"is":[138],"conducted":[139],"with":[140],"participants":[141],"teleoperating":[142],"robotic":[144],"arm":[145],"VR":[147],"complete":[149],"The":[152],"experiment":[153],"spanned":[154],"two":[155],"weeks":[156],"per":[157],"subject":[158],"investigate":[160],"longitudinal":[161],"trends.":[162],"Our":[163],"findings":[164],"reveal":[165],"allowed":[168],"interactively":[170],"tune":[171],"across":[175],"trials":[176],"generalize":[177],"well":[178],"adaptations":[180],"task,":[183],"exhibiting":[184],"improvements":[185],"precision":[187],"fluency":[189],"direct":[191],"conventional":[194],"control.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}