Toward Humanoid Robots in Construction: A Teleoperation Feasibility Study

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.

Robotics (cs.RO); Human-Computer Interaction (cs.HC)

arXiv:2610.00718 [cs.RO]

(or arXiv:2610.00718v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.00718 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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