Towards Massive Interaction with Generalist Robotics: A Systematic Review of XR-enabled Remote Human-Robot Interaction Systems

The rising interest of generalist robots seek to create robots with versatility to handle multiple tasks in a variety of environments, and human will interact with such robots through immersive interfaces. In the context of human-robot interaction (HRI), this survey provides an exhaustive review of the applications of extended reality (XR) technologies in the field of remote HRI. We developed a systematic search strategy based on the PRISMA methodology. From the initial 2,561 articles selected, 100 research papers that met our inclusion criteria were included. We categorized and summarized the domain in detail, delving into XR technologies, including augmented reality (AR), virtual reality (VR), and mixed reality (MR), and their applications in facilitating intuitive and effective remote control and interaction with robotic systems. The survey highlights existing articles on the application of XR technologies, user experience enhancement, and various interaction designs for XR in remote HRI, providing insights into current trends and future directions. We also identified potential gaps and opportunities for future research to improve remote HRI systems through XR technology to guide and inform future XR and robotics research.