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arXiv · 2407.11741

Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation

Jonne van Haastregt·Michael C. Welle·Yuchong Zhang·Danica Kragic
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Abstract

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 the project website: https://ar-puppeteer.github.io/

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Jonne van Haastregt, Michael C. Welle, Yuchong Zhang, Danica Kragic. 2024-07-16. Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation. https://arxiv.org/abs/2407.11741

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