We present a bimanual XR interaction approach for specifying remote assembly tasks as hierarchies of relative and absolute object constraints that specify high-level teleoperation goals for robots. Grabbing one object in each hand creates a constraint group (visualized as a hull) and groups can be nested into hierarchies. Each group can be relative (with a robot-specifiable 6DoF pose) or absolute (with an author-specified fixed 6DoF pose) in relation to its parent. A relative group specifies a subassembly that can be constructed at a location chosen by the robot software for efficiency rather than mandated by the user.
@article{arxiv.2603.01495,
title = {Bimanual XR Specification of Relative and Absolute Assembly Hierarchies for Teleoperation},
author = {Benjamin Yang and Xichen He and Charlie Zou and Jen-Shuo Liu and Barbara Tversky and Steven Feiner},
journal= {arXiv preprint arXiv:2603.01495},
year = {2026}
}