ARMADA: Augmented Reality for Robot Manipulation and Robot-Free Data Acquisition

Teleoperation for robot imitation learning is bottlenecked by hardware availability. Can high-quality robot data be collected without a physical robot? We present a system for augmenting Apple Vision Pro with real-time virtual robot feedback. By providing users with an intuitive understanding of how their actions translate to robot motions, we enable the collection of natural barehanded human data that is compatible with the limitations of physical robot hardware. We conducted a user study with 15 participants demonstrating 3 different tasks each under 3 different feedback conditions and…