fARfetch: Enabling Collocated AR-HRC in Large Visually Diverse Environments with VLM-Driven AR Content Adaptation

arXiv:2606.25162v1 Announce Type: new Abstract: Augmented Reality (AR) can improve collocated human-robot collaboration by making robot state and intent visible and enabling intuitive control, yet large, visually diverse environments like the outdoors challenge both interaction and content legibility, especially at long distances and beyond visual line of sight. We present fARfetch, an AR-HRC system that integrates (i) shared semantic environment mapping across an AR headset and robot that visua...