MATER

This is the Github repo for $MATER$: Mutually Aware Framework for Teleoperated-robot with Extended Reality

Ziliang(Johnson) Zhang · Cong Liu . Hyoseung Kim

Github | Paper

Welcome to the official repository for $MATER$: Mutually Aware Framework for Teleoperated-robot with Extended Reality. This repository is hosted by RTEN Lab at UC Riverside. Please consider citing our work if you find it useful in your research. The citation information is provided below.

@proceeding{zhang2026mater,
  author  = {Ziliang Zhang and Cong Liu and Hyoseung Kim},
  title   = {{MATER}: Mutually Aware Framework for Teleoperated-robot with Extended Reality},
  journal = {Proceedings of the ACM on Measurement and Analysis of Computing Systems},
  volume  = {10},
  number  = {2},
  articleno = {45},
  month   = jun,
  year    = {2026},
  pages   = {1--23},
  doi     = {10.1145/3805643}
}

Table of Contents

• Homepage
• Installation
• Usage

Code Structure

The $MATER$ framework includes both the robot and XR side code for the teleoperation system. The robot side code is implemented in C++ and ROS2, while the XR side code is implemented in Unity. The framework is designed to be modular and extensible, allowing for easy integration of new features and functionalities.

• robot/: Contains the robot side code, including both ROS and ROS2 implementations.
  • src/: Contains the C++ source code for the robot side.
• xr/: Contains the XR side code, including baseline ILLIXR framework, Improved BOXR framework, DepthAI hand tracking and XR side bridge for communication.

Installation

To install the $MATER$ framework, please check the Installation page for more details.

Usage

Please check the Usage page for more details.