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that is not how it works. if you put a show in your que on line, next to it there is a button that says play on tv if you click there a signal goes to the tv to change the channel and you have to accept it with the box remote.
I heard there is an app on the stbs in some markets which will allow you to access your queue also from your set top box. This app is called "Queue" as well and is available in some markets and rolling out nationally.
As rog286713 mentioned, you also have the ability to tune the set top box remotely from the xfinity.com website when viewing your Queue on the online site.