ARMADA: 拡張現実によるロボット操作とロボット不要のデータ収集
ARMADA: Augmented Reality for Robot Manipulation and Robot-Free Data Acquisition
Apple Vision Proに仮想ロボットのリアルタイムフィードバックを重ねるARシステムを構築し、実機なしでもロボット模倣学習用の高品質な人間データを収集できることを15人のユーザー研究で示した。
著者: Nataliya Nechyporenko, Ryan Hoque, Christopher Webb, Mouli Sivapurapu, Jian Zhang
分類: cs.RO
原文アブストラクト
Teleoperation for robot imitation learning is bottlenecked by hardware availability. Can high-quality robot data be collected without a physical robot? We present a system for augmenting Apple Vision Pro with real-time virtual robot feedback. By providing users with an intuitive understanding of how their actions translate to robot motions, we enable the collection of natural barehanded human data that is compatible with the limitations of physical robot hardware. We conducted a user study with 15 participants demonstrating 3 different tasks each under 3 different feedback conditions and directly replayed the collected trajectories on physical robot hardware. Results suggest live robot feedback dramatically improves the quality of the collected data, suggesting a new avenue for scalable human data collection without access to robot hardware. Videos and more are available at https://nataliya.dev/armada.
