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.

翻译：机器人模仿学习是一种广泛应用于训练机器人执行操作任务的方法，该方法通过模仿人类示教来获取技能。然而，其实际应用受到限制，因为用户需要接受操作真实机器人手臂的训练才能提供示教。本文提出了一种创新解决方案：一个基于增强现实的示教收集框架，使非机器人专家能够使用HoloLens 2等设备为机器人模仿学习生成示教。我们的框架支持面向真实世界任务的可扩展且多样化的示教收集。我们通过三项经典机器人任务的实验验证了该方法：到达、推拉和抓取放置。真实机器人在重放通过增强现实收集的示教时，成功执行了每项任务。