Warping augmented reality environments and viewpoints for enhanced robotic teleoperation

Techniques for simplifying a user interface by transforming a model and inversely transforming commands for controlling a remote device based on the transformed model are described herein. A computer system determines a warping transformation, applies the transformation to a model, and provides the transformed model to an operator display. The operator, referencing the transformed model, provides a movement command to a remote device reduces robot and the computer system inversely transforms the command to correspond to the space of the remote device.