Robot Imitation Learning (IL) is a widely used method for training robots to
perform manipulation tasks that involve mimicking human demonstrations to
acquire skills. However, its practicality has been limited due to its
requirement that users be trained in operating real robot arms to provide
demonstrations. This paper presents an innovative solution: an Augmented
Reality (AR)-assisted framework for demonstration collection, empowering
non-roboticist users to produce demonstrations for robot IL using devices like
the HoloLens 2. Our framework facilitates scalable and diverse demonstration
collection for real-world tasks. We validate our approach with experiments on
three classical robotics tasks: reach, push, and pick-and-place. The real robot
performs each task successfully while replaying demonstrations collected via
AR.

通过增强现实技术辅助的演示获取框架，该论文提出了一种创新的解决方案，使非机器人专业人员能够使用 HoloLens 2 等设备为机器人模仿学习提供演示，从而实现了可扩展和多样化的真实世界任务演示收集。通过在三个经典机器人任务（到达、推动和拾取放置）上进行实验证明了该方法的有效性，实际机器人能够成功执行每个任务并回放通过增强现实收集的演示。