外观
论文arXiv 2610.0071828 天前
面向建筑施工中的人形机器人：一项遥操作可行性研究
针对建筑劳动力短缺、危险工况与自主难题，提出XR上身控制结合踏板行走的遥操作系统，并在两项施工任务上验证。
宇树 G1原文链接：Toward Humanoid Robots in Construction: A Teleoperation Feasibility Study（arXiv 2610.00718 · 发布日期：2026-09-30）
Toward Humanoid Robots in Construction: A Teleoperation Feasibility Study
针对建筑劳动力短缺、危险工况与自主难题，提出XR上身控制结合踏板行走的遥操作系统，并在两项施工任务上验证。
核心要点
- 动机是缓解劳动力短缺和危险工况，并应对人形机器人自主性挑战。
- 系统让单名操作者用XR控制上身、用踏板控制移动，实现操作与行走同步。
- 在O*NET职业数据库选取的两项代表性施工任务上，比较成功率和完成时间。
- 工具运输成功率100%，表面涂刷80%，但遥操作耗时显著高于人工基线。
验证范围与局限：验证限于一台Unitree G1人形机器人上的工具运输和表面涂刷两项施工任务。
英文摘要 (Abstract)
We present a teleoperation system that enables a single operator to perform construction tasks on a Unitree G1 humanoid, combining extended reality (XR) based upper body control with pedal-based locomotion to enable simultaneous manipulation and locomotion. Motivated by persistent labor shortages, hazardous working conditions, and challenges in humanoid autonomy, we investigate teleoperation as a practical near-term approach for reducing physical strain on workers while generating high quality demonstration data. We evaluate the system on two representative construction tasks drawn from O*NET occupational database, and report task success and completion time relative to a manual baseline. The system achieved 100% success on tool transport and 80% success on surface painting, with teleoperation requiring substantially more time compared to manual execution.
作者：Parastoo Ali Pour, David R. Martin, Chang Min Hur, Bo Zhang, Tommy Zhou, Brandon Thomas Lichter, Shane Stanfield, Pramod P. Khargonekar, Mohammad Abdullah Al Faruque
来源
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