ORCESTRA: VLM-driven Visual Robot programming in Mixed Reality
ORCESTRA is a mixed-reality system for programming robot digital twins through no-code waypoint teaching and language-guided control. In a passthrough mixed-reality workspace, users place robot twins on real surfaces, teach trajectories, save robot-relative episodes, or issue spoken/typed commands that a vision-language model converts into structured digital-twin plans. Both interaction modes share a backend for metric grounding, embodiment-aware validation, preview, confirmation, and digital-twin execution. The system supports heterogeneous robot embodiments, including fixed-base manipulators, a mobile base, and a humanoid robot, demonstrating MR validation as a safety layer for language...
| Authors | Ivan Snegirev, Elizaveta Semenyakina, Mikhail Konenkov et al. |
|---|---|
| Primary category | cs.RO |
| Published | 1 August 2026 |
| Last updated at source | 1 August 2026 |
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