Robot teleoperation gains great success in various situations, including chemical pollution rescue, disaster relief, and long-distance manipulation. In this article, we propose a virtual reality (VR) based robot teleoperation system to achieve more efficient and natural interaction with humans in different scenes. A user-friendly VR interface is designed to help users interact with a desktop scene using their hands efficiently and intuitively. To improve user experience and reduce workload, we simulate the process in the physics engine to help build a preview of the scene after manipulation in the virtual scene before execution. We conduct experiments with different users and compare our system with a direct control method across several teleoperation tasks. The user study demonstrates that the proposed system enables users to perform operations more instinctively with a lighter mental workload. Users can perform pick-and-place and object-stacking tasks in a considerably short time, even for beginners. Our code is available at https://github.com/lingxiaomeng/VR_Teleoperation_Gen3.

翻译：机器人远程操作在化学污染救援、灾后救援及远距离操控等多种场景中取得了巨大成功。本文提出了一种基于虚拟现实（VR）的机器人远程操作系统，旨在实现不同场景下与人类更高效、更自然的交互。我们设计了一个用户友好的VR界面，帮助用户通过手部操作直观高效地与桌面场景进行交互。为改善用户体验并降低工作负载，我们在物理引擎中模拟操作过程，在执行前预构建虚拟场景中的操作后预览。我们通过不同用户开展实验，并在多项远程操作任务中将该系统与直接控制方法进行对比。用户研究表明，所提系统使用户能够以更直观的方式执行操作，且心理负担更轻。即便对于初学者，用户也能在相当短的时间内完成抓取与放置、物体堆叠等任务。我们的代码开源地址为：https://github.com/lingxiaomeng/VR_Teleoperation_Gen3。