Authors: Isaac Ngui, Courtney McBeth, André Santos, Grace He, Katherine J. Mimnaugh, James D. Motes, Luciano Soares, Marco Morales, Nancy M. Amato

arXiv: https://arxiv.org/abs/2510.02464

Abstract:
We propose the Extended Reality Universal Planning Toolkit (ERUPT), an extended reality (XR) system for interactive motion planning. Our system allows users to create and dynamically reconfigure environments while planning robot paths. In immersive three-dimensional XR environments, users gain greater spatial understanding and access to natural interaction capabilities, enabling object manipulation and robot path visualization in virtual or augmented reality. ERUPT integrates with MoveIt, allowing users to send motion planning requests and visualize resulting robot paths safely in XR before deploying them on physical robots. 

@misc{Ngui-erupt-2025,
  archiveprefix = {arXiv},
  author = {Isaac Ngui and Courtney McBeth and André Santos and Grace He and Katherine J. Mimnaugh and James D. Motes and Luciano Soares and Marco Morales and Nancy M. Amato},
  eprint = {2510.02464},
  primaryclass = {cs.RO},
  title = {ERUPT: An Open Toolkit for Interfacing with Robot Motion Planners in Extended Reality},
  year = {2025},
  url = {https://arxiv.org/abs/2510.02464}
}