High-quality demonstrations are necessary when learning complex and challenging manipulation tasks. In this work, we introduce an approach to puppeteer a robot by controlling a virtual robot in an augmented reality setting. Our system allows for retaining the advantages of being intuitive from a physical leader-follower side while avoiding the unnecessary use of expensive physical setup. In addition, the user is endowed with additional information using augmented reality. We validate our system with a pilot study n=10 on a block stacking and rice scooping tasks where the majority rates the system favorably. Oculus App and corresponding ROS code are available on this website.
*Contributed equally
Alpha version:
Disclaimer: This application is intended for research purposes, and may contain bugs or unexpected behavior. Users should always ensure a safe distance is maintained when operating the robot. The developers are not liable for any injuries, damages, or losses resulting from the use of this app. Use of this application is solely at the user's own risk.