A quintessential feature of human intelligence is the ability to create ad hoc conventions over time to achieve shared goals efficiently. We investigate how communication strategies evolve through repeated collaboration as people coordinate on shared procedural abstractions. To this end, we conducted an online unimodal study (n = 98) using natural language to probe abstraction hierarchies. In a follow-up lab study (n = 40), we examined how multimodal communication (speech and gestures) changed during physical collaboration. Pairs used augmented reality to isolate their partner’s hand and voice; one participant viewed a 3D virtual tower and sent instructions to the other, who built the physical tower. Participants became faster and more accurate by establishing linguistic and gestural abstractions and using cross-modal redundancy to emphasize key changes from previous interactions. Based on these findings, we extend probabilistic models of convention formation to multimodal settings, capturing shifts in modality preferences. Our findings and model provide building blocks for designing convention-aware intelligent agents situated in the physical world.

Target disambiguation is crucial in resolving input ambiguity in augmented reality (AR), especially for queries over distant objects or cluttered scenes on the go. Yet, visual feedforward techniques that support this process remain underexplored. We present Uncertain Pointer, a systematic exploration of feedforward visualizations that annotate multiple candidate targets before user confirmation, either by adding distinct visual identities (e.g., colors) to support disambiguation or by modulating visual intensity (e.g., opacity) to convey system uncertainty. First, we construct a pointer space of 25 pointers by analyzing existing placement strategies and visual signifiers used in target visualizations across 30 years of relevant literature. We then evaluate them through two online experiments (n = 60 and 40), measuring user preference, confidence, mental ease, target visibility, and identifiability across varying object distances and sparsities. Finally, from the results, we derive design recommendations in choosing different Uncertain Pointers based on AR context and disambiguation techniques.

Human interaction is essential for issuing personalized instructions and assisting robots when failure is likely. However, robots remain largely black boxes, offering users little insight into their evolving capabilities and limitations. To address this gap, we present explainable object-oriented HRI (X-OOHRI), an augmented reality (AR) interface that conveys robot action possibilities and constraints through visual signifiers, radial menus, color coding, and explanation tags. Our system encodes object properties and robot limits into object-oriented structures using a vision-language model, allowing explanation generation on the fly and direct manipulation of virtual twins spatially aligned within a simulated environment. We integrate the end-to-end pipeline with a physical robot and showcase diverse use cases ranging from low-level pick-and-place to high-level instructions. Finally, we evaluate X-OOHRI through a user study and find that participants effectively issue object-oriented commands, develop accurate mental models of robot limitations, and engage in mixed-initiative resolution.

Figure 1: Virtual-physical decoupling illusions create two levels of reality when manipulating the world.On the experiential level perceived by the user, objects can be manipulated in ways only virtuality affords.On the physical level, a robot replicates virtual manipulations without exposing itself to the user.Please watch the accompanying video for a full impression of the experience.

This work seeks to design and evaluate haptic feedback for sequential gestural inputs, where mid-air hand gestures are used to express system commands. Nine haptic patterns are first designed leveraging metaphors. To pursue efficient interaction, we examine the trade-off between pattern duration and recognition accuracy and find that durations as short as 0.3s-0.5s achieve roughly 80%-90% accuracy. We then examine the haptic design for sequential inputs, where we vary when the feedback for each gesture is provided, along with pattern duration, gesture sequence length, and age. Results show that providing haptic patterns right after detected hand gestures leads to significantly more efficient interaction compared with concatenating all haptic patterns after the gesture sequence. Moreover, the number of gestures had little impact on performance, but age is a significant predictor. Our results suggest that immediate feedback with 0.3s and 0.5s pattern duration would be recommended for younger and older users respectively.

Microgestures can enable auxiliary input when the hands are occupied. Although prior work has evaluated the comfort of microgestures performed by the index finger and thumb, these gestures cannot be performed while the fingers are constrained by specific hand locations or postures. As the hand can be freely positioned with no primary posture, partially constrained while forming a pose, or highly constrained while grasping an object at a specific location, we leverage the middle, ring, and pinky fingers to provide additional opportunities for auxiliary input across varying levels of hand constraints. A design space and applications demonstrate how such microgestures can transfer across hand location and posture constraints. An online study evaluated their comfort and effort and a lab study evaluated their use for task-specific microinteractions. The results revealed that many middle finger microgestures were comfortable, and microgestures performed while forming a pose were preferred over baseline techniques.

While text entry is an essential and frequent task in Augmented Reality (AR) applications, devising an efficient and easy-to-use text entry method for AR remains an open challenge. This research presents STAR, a smartphone-analogous AR text entry technique that leverages a user’s familiarity with smartphone two-thumb typing. With STAR, a user performs thumb typing on a virtual QWERTY keyboard that is overlain on the skin of their hands. During an evaluation study of STAR, participants achieved a mean typing speed of 21.9 WPM (i.e., 56% of their smartphone typing speed), and a mean error rate of 0.3% after 30 minutes of practice. We further analyze the major factors implicated in the performance gap between STAR and smartphone typing, and discuss ways this gap could be narrowed.

We can create Virtual Reality (VR) interactions that have no equivalent in the real world by remapping spacetime or altering users’ body representation, such as stretching the user’s virtual arm for manipulation of distant objects or scaling up the user’s avatar to enable rapid locomotion. Prior research has leveraged such approaches, what we call beyond-real techniques, to make interactions in VR more practical, efficient, ergonomic, and accessible. We present a survey categorizing prior movement-based VR interaction literature as reality-based, illusory, or beyond-real interactions. We survey relevant conferences (CHI, IEEE VR, VRST, UIST, and DIS) while focusing on selection, manipulation, locomotion, and navigation in VR. For beyond-real interactions, we describe the transformations that have been used by prior works to create novel remappings. We discuss open research questions through the lens of the human sensorimotor control system and highlight challenges that need to be addressed for effective utilization of beyond-real interactions in future VR applications, including plausibility, control, long-term adaptation, and individual differences.

Encountered-type haptic devices (EHDs) face a number of challenges when physically embodying content in a virtual environment, including workspace limits and device latency. To address these issues, we propose REACH+, a framework for dynamic visuo-haptic redirection to improve the perceived performance of EHDs during physical interaction in VR. Using this approach, we estimate the user's arrival time to their intended target and redirect their hand to a point within the EHD's spatio-temporally reachable space. We present an evaluation of this framework implemented with a desktop mobile robot in a 2D target selection task, tested at four robot speeds (20, 25, 30 and 35 cm/s). Results suggest that REACH+ can improve the performance of lower-speed EHDs, increasing their rate of on-time arrival to the point of contact by up to 25% and improving users? self-reported sense of realism.

Advances in tracking technology and wireless headsets enable walking as a means of locomotion in Virtual Reality. When exploring virtual environments larger than room-scale, it is often desirable to increase users' perceived walking speed, for which we investigate three methods. (1) Ground-Level Scaling increases users' avatar size, allowing them to walk farther. (2) Eye-Level Scaling enables users to walk through a World in Miniature, while maintaining a street-level view. (3) Seven-League Boots amplifies users' movements along their walking path. We conduct a study comparing these methods and find that users feel most embodied using Ground-Level Scaling and consequently increase their stride length. Using Seven-League Boots, unlike the other two methods, diminishes positional accuracy at high gains, and users modify their walking behavior to compensate for the lack of control. We conclude with a discussion on each technique's strength and weaknesses and the types of situation they might be appropriate for.

Quadcopters have been used as hovering encountered-type haptic devices in virtual reality. We suggest that quadcopters can facilitate rich haptic interactions beyond force feedback by appropriating physical objects and the environment. We present HoverHaptics, an autonomous safe-to-touch quadcopter and its integration with a virtual shopping experience. HoverHaptics highlights three affordances of quadcopters that enable these rich haptic interactions: (1) dynamic positioning of passive haptics, (2) texture mapping, and (3) animating passive props. We identify inherent challenges of hovering encountered-type haptic devices, such as their limited speed, inadequate control accuracy, and safety concerns. We then detail our approach for tackling these challenges, including the use of display techniques, visuo-haptic illusions, and collision avoidance. We conclude by describing a preliminary study (n = 9) to better understand the subjective user experience when interacting with a quadcopter in virtual reality using these techniques.

There are important individual differences when experiencing VR setups. We ran a study with 20 participants who got a scale-matched avatar and were asked to blind-walk to a VR target placed 2.5 meters away. In such setups, people typically underestimate distances by approximately 10% when virtual environments are viewed through head mounted displays. Consistent with previous studies we found that the underestimation was significantly reduced the more embodied the participants were. However, not all participants developed the same level of embodiment when exposed to the exact same conditions.

In this work, we utilize visuo-haptic illusions to improve the perceived performance of encountered-type haptic devices, specifically shape displays, in virtual reality. Shape displays are matrices of actuated pins that travel vertically to render physical shapes; however, they have limitations such as low resolution, small display size, and low pin speed. To address these limitations, we employ illusions such as redirection, scaling, and retargeting that take advantage of the visual dominance effect, the idea that vision often dominates when senses conflict. Our evaluation of these techniques suggests that redirecting sloped lines with angles less than 40 degrees onto a horizontal line is an effective technique for increasing the perceived resolution of the display. Scaling up the virtual object onto the shape display by a factor less than 1.8x can also increase the perceived resolution. Finally, using vertical redirection a perceived 3x speed increase can be achieved.