Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot to perform grasping in an easy and intuitive way, through exploiting the rich environment information provided by the virtual reality space. Our system has the benefit of easy transferability to different robots and different tasks, and can be used without any expert knowledge. We tested the system on a real fetch robot, and a video demonstrating the effectiveness of our system can be seen at https://youtu.be/1-xW2Bx_Cms.

翻译：尽管虚拟现实技术近年来取得了进展，但在杂乱场景中遥操作高自由度机器人完成灵巧任务仍然困难。本文通过利用虚拟现实空间提供的丰富环境信息，提出了一种允许用户以直观简便方式遥操作Fetch机器人执行抓取任务的系统。该系统具有易于迁移至不同机器人与不同任务的优点，且无需专业知识即可使用。我们在真实Fetch机器人上对该系统进行了测试，展示系统有效性的视频可见于https://youtu.be/1-xW2Bx_Cms。