A human-in-the-loop Control Paradigm for Construction Robotics: From VR-Guided Teleoperation to Semi-Autonomous Dual-Arm Operation
A human-in-the-loop Control Paradigm for Construction Robotics: From VR-Guided Teleoperation to Semi-Autonomous Dual-Arm Operation
This paper introduces a human-in-the-loop control framework for construction robotics that enables structured transitions between VR-guided teleoperation, semi-autonomous shared control, and rule-based autonomous execution. The system integrates immersive VR guidance, reusable skill primitives, and explicit human-robot role allocation to allow operators to retain supervisory authority while delegating repetitive or precision-critical actions to the robot. Validated on a dual-arm platform for facade-installation tasks, results indicate that autonomous execution yields best performance under well-calibrated conditions, whereas semi-autonomous control enhances resilience when environmental disturbances exceed the autonomous pipeline's correction capability and substantially reduces subjective operator workload compared to full teleoperation.
The study validates a control paradigm on a dual-arm platform for facade installation, showing that autonomous execution outperforms under nominal conditions while semi-autonomous shared control improves resilience to disturbances and reduces operator workload compared to full teleoperation.
Source: arXiv Robotics — research abstracts · Read original article ↗
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based autonomous execution for contact-rich dual-arm construction tasks. The proposed system combines immersive VR guidance, a manually defined library of reusable skill primitives, and a shared-autonomy framework with explicit human-robot role allocation and command-priority rules. This integration allows operators to retain supervisory and corrective authority while delegating repetitive and precision-critical acti
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ons to the robot. The paradigm is validated on a dual-arm platform through representative facade-installation tasks. Results show that autonomous execution provides the best performance under well-calibrated nominal conditions, whereas semi-autonomous control improves resilience when environmental disturbances exceed the predefined autonomous pipeline's correction capability. Semi-autonomous control also substantiall
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y reduces subjective operator workload compared with full teleoperation. These findings demonstrate that effective construction-robot control should adapt human involvement to task and environmental uncertainty, using autonomy for repeatable operations and shared control for disturbance recovery.
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A human-in-the-loop Control Paradigm for Construction Robotics: From VR-Guided Teleoperation to Semi-Autonomous Dual-Arm Operation
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arXiv:2611.14062v1 Announce Type: new Abstract: Construction tasks in hazardous and unstructured environments require both human adaptability and robotic precision, yet existing approaches often treat teleoperation and autonomy as separate control modes. This paper presents a human-in-the-loop control paradigm that enables structured transitions among VR-guided teleoperation, semi-autonomous shared control, and rule-
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Source：arXiv Robotics — research abstracts · arxiv.org