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Augmented Reality Demonstrations for Scalable Robot Imitation Learning
March 22, 2024, 4:42 a.m. | Yue Yang, Bryce Ikeda, Gedas Bertasius, Daniel Szafir
cs.LG updates on arXiv.org arxiv.org
Abstract: Robot Imitation Learning (IL) is a widely used method for training robots to perform manipulation tasks that involve mimicking human demonstrations to acquire skills. However, its practicality has been limited due to its requirement that users be trained in operating real robot arms to provide demonstrations. This paper presents an innovative solution: an Augmented Reality (AR)-assisted framework for demonstration collection, empowering non-roboticist users to produce demonstrations for robot IL using devices like the HoloLens 2. …
abstract arxiv augmented reality cs.gr cs.lg cs.ro however human imitation learning manipulation reality robot robots scalable skills tasks training type
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