Toward Humanoid Robots in Construction: A Teleoperation Feasibility Study

Parastoo Ali Pour; David R. Martin; Chang Min Hur; Bo Zhang; Tommy Zhou; Brandon Thomas Lichter; Shane Stanfield; Pramod Khargonekar; Mohammad Abdullah Al Faruque

arXiv · 2610.00718

Toward Humanoid Robots in Construction: A Teleoperation Feasibility Study

Parastoo Ali Pour·David R. Martin·Chang Min Hur·Bo Zhang·Tommy Zhou·Brandon Thomas Lichter·Shane Stanfield·Pramod Khargonekar·Mohammad Abdullah Al Faruque

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Abstract

We present a teleoperation system that enables a single operator to perform construction tasks on a Unitree G1 humanoid, combining extended reality (XR) based upper body control with pedal-based locomotion to enable simultaneous manipulation and locomotion. Motivated by persistent labor shortages, hazardous working conditions, and challenges in humanoid autonomy, we investigate teleoperation as a practical near-term approach for reducing physical strain on workers while generating high quality demonstration data. We evaluate the system on two representative construction tasks drawn from O*NET occupational database, and report task success and completion time relative to a manual baseline. The system achieved 100% success on tool transport and 80% success on surface painting, with teleoperation requiring substantially more time compared to manual execution.

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Parastoo Ali Pour, David R. Martin, Chang Min Hur, Bo Zhang, Tommy Zhou, Brandon Thomas Lichter, Shane Stanfield, Pramod Khargonekar, Mohammad Abdullah Al Faruque. 2026-09-30. Toward Humanoid Robots in Construction: A Teleoperation Feasibility Study. https://arxiv.org/abs/2610.00718

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