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arXiv · 2502.03297

IRIS: An Immersive Robot Interaction System

Xinkai Jiang·Qihao Yuan·Enes Ulas Dincer·Hongyi Zhou·Ge Li·Xueyin Li·Xiaogang Jia·Timo Schnizer·Nicolas Schreiber·Weiran Liao·Julius Haag·Kailai Li·Gerhard Neumann·Rudolf Lioutikov
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Abstract

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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Xinkai Jiang, Qihao Yuan, Enes Ulas Dincer, Hongyi Zhou, Ge Li, Xueyin Li, Xiaogang Jia, Timo Schnizer, Nicolas Schreiber, Weiran Liao, Julius Haag, Kailai Li, Gerhard Neumann, Rudolf Lioutikov. 2025-02-05. IRIS: An Immersive Robot Interaction System. https://arxiv.org/abs/2502.03297

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