Authors: Isaac Ngui, Courtney McBeth, Grace He, Andre Correa Santos, Luciano Soares, Marco Morales, Nancy M. Amato

arXiv: https://arxiv.org/abs/2409.12862

Abstract:
Many real-world tasks are intuitive for a human to perform, but difficult to encode algorithmically when utilizing a robot to perform the tasks. In these scenarios, robotic systems can benefit from expert demonstrations to learn how to perform each task. In many settings, it may be difficult or unsafe to use a physical robot to provide these demonstrations, for example, considering cooking tasks such as slicing with a knife. Extended reality provides a natural setting for demonstrating robotic trajectories while bypassing safety concerns and providing a broader range of interaction modalities. We propose the Robot Action Demonstration in Extended Reality (RADER) system, a generic extended reality interface for learning from demonstration. We additionally present its application to an existing state-of-the-art learning from demonstration approach and show comparable results between demonstrations given on a physical robot and those given using our extended reality system. 

@misc{Ngui-ersfrl-2024, 
 archiveprefix = {arXiv}, 
 author = {Isaac Ngui and Courtney McBeth and Grace He and Andre Correa Santos and Luciano Soares and Marco Morales and Nancy M. Amato}, 
 eprint = {2409.12862}, 
 primaryclass = {cs.RO}, 
 title = {Extended Reality System for Robotic Learning from Human Demonstration}, 
 url = {https://arxiv.org/abs/2409.12862}, 
 year = {2024} 
}