OpenVR: Teleoperation for manipulation
Across the robotics field, quality demonstrations are an integral part of many control pipelines. However, collecting high-quality demonstration trajectories remains time-consuming and difficult, often resulting in the number of demonstrations being the performance bottleneck. To address this issue,...
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| Format: | Article |
| Language: | English |
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Elsevier
2025-02-01
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| Series: | SoftwareX |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2352711025000214 |
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| _version_ | 1849717478756712448 |
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| author | Abraham George Alison Bartsch Amir Barati Farimani |
| author_facet | Abraham George Alison Bartsch Amir Barati Farimani |
| author_sort | Abraham George |
| collection | DOAJ |
| description | Across the robotics field, quality demonstrations are an integral part of many control pipelines. However, collecting high-quality demonstration trajectories remains time-consuming and difficult, often resulting in the number of demonstrations being the performance bottleneck. To address this issue, we present a method of Virtual Reality (VR) Teleoperation that uses an Oculus VR headset to teleoperate a Franka Emika Panda robot. Although other VR teleoperation methods exist, our code is open source, designed for readily available consumer hardware, easy to modify, agnostic to experimental setup, and simple to use. |
| format | Article |
| id | doaj-art-41dc724588fe4ad4a1d64ec3dd6fdd25 |
| institution | DOAJ |
| issn | 2352-7110 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | Elsevier |
| record_format | Article |
| series | SoftwareX |
| spelling | doaj-art-41dc724588fe4ad4a1d64ec3dd6fdd252025-08-20T03:12:39ZengElsevierSoftwareX2352-71102025-02-012910205410.1016/j.softx.2025.102054OpenVR: Teleoperation for manipulationAbraham George0Alison Bartsch1Amir Barati Farimani2Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USADepartment of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USACorresponding author.; Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USAAcross the robotics field, quality demonstrations are an integral part of many control pipelines. However, collecting high-quality demonstration trajectories remains time-consuming and difficult, often resulting in the number of demonstrations being the performance bottleneck. To address this issue, we present a method of Virtual Reality (VR) Teleoperation that uses an Oculus VR headset to teleoperate a Franka Emika Panda robot. Although other VR teleoperation methods exist, our code is open source, designed for readily available consumer hardware, easy to modify, agnostic to experimental setup, and simple to use.http://www.sciencedirect.com/science/article/pii/S2352711025000214TeleoperationVirtual realityRoboticsImitation learning |
| spellingShingle | Abraham George Alison Bartsch Amir Barati Farimani OpenVR: Teleoperation for manipulation SoftwareX Teleoperation Virtual reality Robotics Imitation learning |
| title | OpenVR: Teleoperation for manipulation |
| title_full | OpenVR: Teleoperation for manipulation |
| title_fullStr | OpenVR: Teleoperation for manipulation |
| title_full_unstemmed | OpenVR: Teleoperation for manipulation |
| title_short | OpenVR: Teleoperation for manipulation |
| title_sort | openvr teleoperation for manipulation |
| topic | Teleoperation Virtual reality Robotics Imitation learning |
| url | http://www.sciencedirect.com/science/article/pii/S2352711025000214 |
| work_keys_str_mv | AT abrahamgeorge openvrteleoperationformanipulation AT alisonbartsch openvrteleoperationformanipulation AT amirbaratifarimani openvrteleoperationformanipulation |