{"id":"https://openalex.org/W7135038648","doi":"https://doi.org/10.48550/arxiv.2603.10459","title":"SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly","display_name":"SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly","publication_year":2026,"publication_date":"2026-03-11","ids":{"openalex":"https://openalex.org/W7135038648","doi":"https://doi.org/10.48550/arxiv.2603.10459"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.10459","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10459","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.10459","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128822846","display_name":"Xiao Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Xiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063939709","display_name":"Prakash Baskaran","orcid":"https://orcid.org/0009-0009-6756-7419"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Baskaran, Prakash","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043701811","display_name":"Songpo Li","orcid":"https://orcid.org/0000-0001-6779-697X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Songpo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068848089","display_name":"Simon Manschitz","orcid":"https://orcid.org/0000-0001-6419-8157"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Manschitz, Simon","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128817202","display_name":"Wei Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040011464","display_name":"Dirk Ruiken","orcid":"https://orcid.org/0009-0000-7016-6928"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ruiken, Dirk","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5079765333","display_name":"Soshi Iba","orcid":"https://orcid.org/0000-0001-5346-3218"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Iba, Soshi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.304500013589859,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.304500013589859,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.2061000019311905,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.11550000309944153,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9337999820709229},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7037000060081482},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5151000022888184},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4731999933719635},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.42149999737739563},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4004000127315521},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.37619999051094055},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.37299999594688416}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9337999820709229},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7037000060081482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5821999907493591},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5737000107765198},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5151000022888184},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4731999933719635},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.42149999737739563},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4097999930381775},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4004000127315521},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.37619999051094055},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.37299999594688416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37279999256134033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36000001430511475},{"id":"https://openalex.org/C153701036","wikidata":"https://www.wikidata.org/wiki/Q659974","display_name":"Trustworthiness","level":2,"score":0.35989999771118164},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.3569999933242798},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.32899999618530273},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.3212999999523163},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3172999918460846},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3028999865055084},{"id":"https://openalex.org/C3020716817","wikidata":"https://www.wikidata.org/wiki/Q4132092","display_name":"Visual feedback","level":2,"score":0.28119999170303345},{"id":"https://openalex.org/C2982912361","wikidata":"https://www.wikidata.org/wiki/Q1851867","display_name":"Mental model","level":2,"score":0.2802000045776367},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C29258643","wikidata":"https://www.wikidata.org/wiki/Q2937669","display_name":"Position sensor","level":3,"score":0.2621000111103058},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2558000087738037},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.10459","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10459","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.10459","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.10459","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.444882333278656,"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0,31],"human-robot":[1],"collaboration,":[2],"shared":[3],"autonomy":[4],"enhances":[5],"human":[6,18],"performance":[7],"through":[8,60],"precise,":[9],"intuitive":[10],"support.":[11],"Effective":[12],"robotic":[13],"assistance":[14],"requires":[15],"accurately":[16],"inferring":[17],"intentions":[19],"and":[20,29,52,70,87,106,120],"understanding":[21],"task":[22,50],"structures":[23],"to":[24],"determine":[25],"optimal":[26],"support":[27],"timing":[28],"methods.":[30],"this":[32],"paper,":[33],"we":[34],"present":[35],"SUBTA,":[36],"a":[37,61],"supported":[38],"teleoperation":[39,81],"system":[40],"for":[41],"bimanual":[42],"assembly":[43],"that":[44,76,114],"couples":[45],"learned":[46],"intention":[47],"estimation,":[48],"scene-graph":[49],"planning,":[51],"context-dependent":[53],"motion":[54],"assists.":[55],"We":[56],"validate":[57],"our":[58],"approach":[59],"user":[62,121],"study":[63],"(N=12)":[64],"comparing":[65],"standard":[66,80],"teleoperation,":[67],"motion-support":[68],"only,":[69],"SUBTA.":[71,110],"Linear":[72],"mixed-effects":[73],"analysis":[74],"revealed":[75],"SUBTA":[77,115],"significantly":[78],"outperformed":[79],"in":[82,109,123],"position":[83],"accuracy":[84,89],"(p&lt;0.001,":[85,90],"d=1.18)":[86],"orientation":[88],"d=1.75),":[91],"while":[92],"reducing":[93],"mental":[94],"demand":[95],"(p=0.002,":[96],"d=1.34).":[97],"Post-experiment":[98],"ratings":[99],"indicate":[100],"clearer,":[101],"more":[102],"trustworthy":[103],"visual":[104],"feedback":[105],"predictable":[107],"interventions":[108],"The":[111],"results":[112],"demonstrate":[113],"greatly":[116],"improves":[117],"both":[118],"effectiveness":[119],"experience":[122],"teleoperation.":[124]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-13T00:00:00"}
