Virtual Experiences LabUniversity of Georgia
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ActiveRobots & physical systems

RobotCommand XR

Teleoperating a quadruped robot through mixed reality, with a live 3D point cloud of what the robot sees.

A Unitree B1 quadruped with mounted sensors next to the colored point cloud it produces.

How do you give a remote operator a good sense of where a legged robot is and what is around it? RobotCommand XR (RCXR) answers with mixed reality. A Unitree B1 quadruped carries a lidar, depth cameras, and a Meta Quest 3 on a robotic arm that fuses the sensor streams. The operator, wearing their own Quest 3, sees stereo video, a miniature animated replica of the robot, and a live point cloud of the surroundings.

In our ACM SUI 2026 study, 14 participants teleoperated the robot with and without the real-time point cloud. With the point cloud, operators needed the arm camera about a third less often (105 s vs. 160 s), and 13 of 14 preferred it, even though they rated it as more demanding.

The operator's view of the robot inside a live, color-coded point cloud of the lab.
The B1 quadruped robot standing in the lab.
Labeled sensor mounts on the robot, including depth cameras, a lidar and a Quest 3 on a robotic arm.

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