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It requires high-fidelity in control actions as well as perception (vision, haptic, and other sensory feedback) of the remote environment. This paper presents<jats:italic>Vicarios<\/jats:italic>, a Virtual Reality (VR) based interface with the aim of facilitating intuitive real-time remote teleoperation, while utilizing the inherent benefits of VR, including immersive visualization, freedom of user viewpoint selection, and fluidity of interaction through natural action interfaces.<jats:italic>Vicarios<\/jats:italic>aims to enhance the situational awareness, using the concept of<jats:italic>viewpoint-independent mapping<\/jats:italic>between the operator and the remote scene, thereby giving the operator better control in the perception-action loop. The article describes the overall system of<jats:italic>Vicarios<\/jats:italic>, with its software, hardware, and communication framework. A comparative user study quantifies the impact of the interface and its features, including immersion and instantaneous user viewpoint changes, termed \u201c<jats:italic>teleporting<\/jats:italic>\u201d, on users\u2019 performance. The results show that users\u2019 performance with the VR-based interface was either similar to or better than the baseline condition of traditional stereo video feedback, approving the realistic nature of the<jats:italic>Vicarios<\/jats:italic>interface. 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