用AR模拟机器人反馈，无实物机器人也能收集高质量操作数据。
ARMADA: Augmented Reality for Robot Manipulation and Robot-Free Data Acquisition
- 用苹果Vision Pro实时生成虚拟机器人反馈，让用户裸手操作时感知机器人动作。
- 15人实验显示，实时反馈使数据质量显著提升，可直接在真机器人上复现。
- 适合缺乏机器人硬件但需高质量人类操作数据的研究者使用。
机器人模仿学习的远程操控受硬件可用性制约。能否在没有实体机器人的情况下收集高质量数据？我们提出一个系统，通过实时虚拟机器人反馈增强Apple Vision Pro。该系统使用户直观理解自身动作如何转化为机器人运动，从而收集与真实机器人硬件限制兼容的自然裸手人类数据。15名参与者在三种不同反馈条件下各完成3项任务，结果表明实时机器人反馈显著提升了数据质量，验证了无需实体机器人即可规模化采集人类数据的新路径。更多视频和细节见https://nataliya.dev/armada。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。