Extended Reality System for Robotic Learning from Human Demonstration

Figure 1: A human user interacting with a virtual UR5e robot to provide a trajectory demonstration as the robot carries a coffee mug over a table with a laptop on top. Extended reality provides a natural setting for demonstrating robotic trajectories while bypassing safety Many real-world tasks are intuitive for a human to perform, but difficult concerns and providing a broader range of interaction modalities. In these scenarios, robotic systems can benefit from expert (RADER) system, a generic extended reality interface for learning demonstrations, wherein human operators physically move the from demonstration. We additionally present its application to an robot along trajectories, to learn how to perform each task. In many existing state-of-the-art learning from demonstration approach and settings, it may be difficult or unsafe to use a physical robot to provide show comparable results between demonstrations given on a physical these demonstrations, for example, considering cooking tasks robot and those given using our extended reality system.