IRIS让多人在虚实结合场景中高效交互并收集数据。
IRIS: An Immersive Robot Interaction System
- 基于扩展现实构建跨模拟与真实世界的沉浸式交互系统
- 支持刚体、柔体物体及真实传感器点云的实时可视化
- 适合机器人研究、人机协作和多用户协同实验
本文提出IRIS，一种基于扩展现实（XR）的沉浸式机器人交互系统。现有基于XR的系统虽能高效采集数据，但因依赖特定机器人、物体、模拟器和环境，难以复现与复用。IRIS通过支持多样模拟器与真实场景中的沉浸式交互与数据采集，解决该问题。系统可可视化任意刚体与柔体对象、仿真机器人，并集成实时传感器生成的点云，适用于真实应用。此外，IRIS支持多用户在同一虚拟场景中同步交互，增强协作能力。大量实验表明，IRIS在仿真与真实场景中均能实现高效且直观的数据采集。
原文摘要 · Abstract (English)
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to particular robots, objects, simulators, and environments. IRIS addresses these issues by supporting immersive interaction and data collection across diverse simulators and real-world scenarios. It visualizes arbitrary rigid and deformable objects, robots from simulation, and integrates real-time sensor-generated point clouds for real-world applications. Additionally, IRIS enhances collaborative capabilities by enabling multiple users to simultaneously interact within the same virtual scene. Extensive experiments demonstrate that IRIS offers efficient and intuitive data collection in both simulated and real-world settings.
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