IRIS: An Immersive Robot Interaction System

TL;DR

IRIS is an immersive system that enhances robot interaction and data collection across diverse environments using XR, supporting visualization, real-time sensor data, and multi-user collaboration.

Contribution

IRIS introduces a versatile XR-based platform for immersive robot interaction, addressing reproducibility and reuse challenges in existing systems.

Findings

Efficient data collection in simulated and real-world settings

Supports visualization of various objects and robots

Enables multi-user collaborative interaction

Abstract

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.