Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation
Jonne Van Haastregt, Michael C. Welle, Yuchong Zhang, Danica Kragić · 2024
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 website1.1https://ar-puppeteer.github.io/