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Beyond Object Selection:Markerless Gaze-based Robot Placement at Arbitrary Positions

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

Gaze-based assistive manipulation typically supports object selection, while arbitrary-position placement requires accurate spatial alignment between the headset and robot. However, for gaze-based manipulation, pose accuracy does not necessarily translate into task accuracy: translational and rotational errors jointly affect the transformed gaze ray and may compensate for each other. To study cross-device alignment from this task-oriented perspective, we present a markerless interaction framework and a dedicated cross-device dataset. We propose Graph-based Reference Selection to address sparse

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