@inproceedings{a841595cff5540de83ac02f8309793ea,
title = "GhostObjects: Instructing Robots by Manipulating Spatially Aligned Virtual Twins in Augmented Reality",
abstract = "Robots are increasingly capable of autonomous operations, yet human interaction remains essential for issuing personalized instructions. Instead of directly controlling robots through Programming by Demonstration (PbD) or teleoperation, we propose giving instructions by interacting with GhostObjects-world-aligned, life-size virtual twins of physical objects-in augmented reality (AR). By direct manipulation of GhostObjects, users can precisely specify physical goals and spatial parameters, with features including real-world lasso selection of multiple objects and snapping back to default positions, enabling tasks beyond simple pick-and-place.",
keywords = "AR, collaborative tasks, end-user robot programming, Human-robot interaction, mixed reality, robot instructions, robotics",
author = "Wang, \{Lauren W.\} and Parastoo Abtahi",
note = "Publisher Copyright: {\textcopyright} 2025 Copyright held by the owner/author(s).; 38th Annual ACM Symposium on User Interface Software and Technology, UIST 2025 ; Conference date: 28-09-2025 Through 01-10-2025",
year = "2025",
month = sep,
day = "27",
doi = "10.1145/3746058.3758451",
language = "English (US)",
series = "UIST Adjunct 2025 - Proceedings of the 38th Annual ACM Symposium on User Interface Software and Technology",
publisher = "Association for Computing Machinery, Inc",
editor = "Andrea Bianchi and Elena Glassman and Shengdong Zhao and Jeeeun Kim and Ian Oakley and Mackay, \{Wendy E.\}",
booktitle = "UIST Adjunct 2025 - Proceedings of the 38th Annual ACM Symposium on User Interface Software and Technology",
}