Presenting a modular and extensible OpenXR, Unity teleoperation application designed to support the control and monitoring of diverse robotic platforms from legged quadrupeds to model racing cars. Targeted at providing improved human perception and sensory awareness in remote operated deployments, the system integrates tightly with existing ROS systems to provide immersive 3D visualization and control. The interface includes support for a variety of common data streams such as images, point clouds and TSDF meshes, as well as more immersive feeds including haptics and spatial audio. Pilots can control robots through hand tracking, XR controller joysticks, as well as localized user poses and pose goals. The wide range of options enable support for high-level goal specification in locomotion tasks or fine-grained control in manipulation. By blending immersive perception with versatile control in a lightweight platform, this work enables easy and versatile human-robot interaction in teleoperated settings.
@article{wildersmith2025xr,
author = {Maximum Wilder-Smith and Vaishakh Patil and Marco Hutter},
title = {Generalized XR Teleoperation Toolkit},
journal = {arXiv},
year = {2025},
}