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This paper introduces HoloBots, a mixed reality remote collaboration systemthat augments holographic telepresence with synchronized mobile robots. Beyondexisting mixed reality telepresence, HoloBots lets remote users not only bevisually and spatially present, but also physically engage with local users andtheir environment. HoloBots allows the users to touch, grasp, manipulate, andinteract with the remote physical environment as if they were co-located in thesame shared space. We achieve this by synchronizing holographic user motion(Hololens 2 and Azure Kinect) with tabletop mobile robots (Sony Toio). Beyondthe existing physical telepresence, HoloBots contributes to an exploration ofbroader design space, such as object actuation, virtual hand physicalization,world-in-miniature exploration, shared tangible interfaces, embodied guidance,and haptic communication. We evaluate our system with twelve participants bycomparing it with hologram-only and robot-only conditions. Both quantitativeand qualitative results confirm that our system significantly enhances thelevel of co-presence and shared experience, compared to the other conditions.

HoloBots: Augmenting Holographic Telepresence with Mobile Robots for Tangible Remote Collaboration in Mixed Reality