This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to particular robots, objects, simulators, and environments. IRIS addresses these issues by supporting immersive interaction and data collection across diverse simulators and real-world scenarios. It visualizes arbitrary rigid and deformable objects, robots from simulation, and integrates real-time sensor-generated point clouds for real-world applications. Additionally, IRIS enhances collaborative capabilities by enabling multiple users to simultaneously interact within the same virtual scene. Extensive experiments demonstrate that IRIS offers efficient and intuitive data collection in both simulated and real-world settings.

翻译：本文介绍了IRIS，一种基于扩展现实（XR）的沉浸式机器人交互系统。现有的XR系统虽能实现高效数据收集，但由于其通常针对特定机器人、物体、仿真器及环境定制，往往难以复现和重用。IRIS通过支持跨多种仿真器与真实场景的沉浸式交互与数据收集，解决了上述问题。该系统可可视化任意刚体与可变形物体、仿真环境中的机器人，并集成实时传感器生成的点云以应用于真实场景。此外，IRIS通过支持多用户在同一虚拟场景中实时交互，增强了协同操作能力。大量实验表明，IRIS在仿真与真实环境中均能提供高效直观的数据收集功能。