Extended Reality System for Robotic Learning from Human Demonstration
On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning
Abstract (arXiv)
Many real-world tasks are intuitive for a human to perform, but difficult to encode algorithmically when utilizing a robot to perform the tasks. In these scenarios, robotic systems can benefit from expert demonstrations to learn how to perform each task. In many settings, it may be difficult or unsafe to use a physical robot to provide these demonstrations, for example, considering cooking tasks such as slicing with a knife. Extended reality provides a natural setting for demonstrating robotic trajectories while bypassing safety concerns and providing a broader range of interaction modalities. We propose the Robot Action Demonstration in Extended Reality (RADER) system, a generic extended reality interface for learning from demonstration. We additionally present its application to an existing state-of-the-art learning from demonstration approach and show comparable results between demonstrations given on a physical robot and those given using our extended reality system.
Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 11 of its 29 references that are in the map. First posted on arXiv 19 Sep 2024.
Builds on
11 of 29 references.
References · 11
- 2018Behavioral Cloning from Observationcited by 492
- 2021Implicit Behavioral Cloningcited by 452
- 2018A Survey of Inverse Reinforcement Learning: Challenges, Methods and Progresscited by 298
- 2022Robot Operating System 2: Design, Architecture, and Uses In The Wildcited by 199
- 2024OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulationcited by 71
- 2022The Effect of Modeling Human Rationality Level on Learning Rewards from Multiple Feedback Typescited by 26
- 2020Feature Expansive Reward Learning: Rethinking Human Inputcited by 25
- 2022Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic Interfacescited by 19
- 2021Ergodic imitation: Learning from what to do and what not to docited by 8
- 2017Communicating Robot Arm Motion Intent Through Mixed Reality Head-mounted Displayscited by 6
- 2024SliceIt! -- A Dual Simulator Framework for Learning Robot Food Slicingcited by 6
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- 2025ARMimic: Learning Robotic Manipulation from Passive Human Demonstrations in Augmented Reality
- 2026KnowDemo: Knowledge-Guided Robot Demonstration Generation from Human Videos
- 2024ARCap: Collecting High-quality Human Demonstrations for Robot Learning with Augmented Reality Feedback
- 2024Manipulate-Anything: Automating Real-World Robots using Vision-Language Models
- 2024Augmented Reality Demonstrations for Scalable Robot Imitation Learning
- 2024Versatile Demonstration Interface: Toward More Flexible Robot Demonstration Collection
- 2025When a Robot is More Capable than a Human: Learning from Constrained Demonstrators
- 2025Learning Compositional Behaviors from Demonstration and Language