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HDAR-Simulator

Introduction

This repo is used for creating human demonstrion from simulation.

Here is the main features:

  • The simulated objects could be easily created or edited by json files.
  • Optimaize the code to make sure all the recorded data is reproducable and always follow the timestamps.
  • Flexible CLI to control the procedure of recording human demonstration.

The framework graph of this system is following:

System Review

Paper Website

This application supports our paper "A Comprehensive User Study on Augmented Reality-Based Data Collection Interfaces for Robot Learning", which was published on HRI2024. If you find our work useful, please consider citing.

@inproceedings{jiang2024comprehensive,
  title={A Comprehensive User Study on Augmented Reality-Based Data Collection Interfaces for Robot Learning},
  author={Jiang, Xinkai and Mattes, Paul and Jia, Xiaogang and Schreiber, Nicolas and Neumann, Gerhard and Lioutikov, Rudolf},
  booktitle={Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction},
  pages={10},
  year={2024},
  organization={ACM},
  address={Boulder, CO, USA},
  date={March 11--14}
}

Supported Simulation

  • SimulationFramework (Mjbeta)

Dependency

  • SimPublisher