Yeah, there's no reason humans can't interact with the physical world through auxiliary VR worlds. We already do this with websites, VR will eventually be an interface to interact as a connected robotic device.

At the same time, the person in VR would be giving learnable information to the robot while they are controlling it (e.g. like a driver for a self-driving car). Eventually, you could wade the robot off of VR and it would be able to carry out the task. So, VR could also be a way to teach robots.