Year: 2026
Type: preprint
Abstract: 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-guided robot programming before physical deployment.
Source: arXiv (Cornell University)
Institution: Skolkovo Institute of Science and Technology
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
SDG: Quality education
Open Access status: green
Funder: Russian Science Foundation
Award: G2841149998
OpenAlex ID: W7172408682
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