Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation
<|reference_start|>Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation: 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/<|reference_end|>
@article{van haastregt2024puppeteer,
    title={Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation},
    author={Jonne van Haastregt, Michael C. Welle, Yuchong Zhang, Danica Kragic},
    journal={arXiv preprint arXiv:2407.11741},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.11741},
    primaryClass={cs.RO}
}