ARBot: ARBot: A High-Fidelity Robotic Manipulator Teleoperation Framework for Human-Centered Augmented Reality Evaluation

Harsh Chhajed¹ · Tian Guo²

Worcester Polytechnic Institute

📢 We will release the full human and synthetic dataset once the paper gets accepted!

Repository Structure:

ARBot
├── README.md
├── LICENSE
├── AR-PiPER                     # Robot Control Interface Submodule for PiPER
├── AR-OMX                       # Robot Control Interface Submodule for Open Manipulator X
├── AR-CV                        # Submodule for Computer Vision + IMU Control
├── ARPose                       # Submodule for ARPose Application
└── Dataset                      # User Study Results
    ├── Subset_A                 # Tracing Fidelity
    │   ├── AR                   # Tracing Fidelity Results using ARPose Application
    │   │   ├── U1
    │   │   │   ├── Circle.csv
    │   │   │   ├── S.csv
    │   │   │   └── Square.csv 
    │   │   ├── U2
    │   │   └── . . .
    │   └── CV                   # Tracing Fidelity Results using CV+IMU Setup
    │       ├── U1
    │       │   ├── Circle.csv
    │       │   ├── S.csv
    │       │   └── Square.csv 
    │       ├── U2
    │       └── . . .
    └── Subset_B                 # Repeatability
        ├── AR                   # Repeatability Results using ARPose Application
        │   ├── U1
        │   │   ├── H1.csv
        │   │   ├── H2.csv
        │   │   ├── H3.csv
        │   │   ├── robot_1.csv
        │   │   ├── robot_2.csv
        │   │   ├── robot_3.csv
        │   │   ├── robot_4.csv
        │   │   └── robot_5.csv 
        │   ├── U2
        │   └── . . .
        └── CV                   # Repeatability Results using CV+IMU Setup
            ├── H1.csv
            ├── H2.csv
            ├── H3.csv
            ├── robot_1.csv
            ├── robot_2.csv
            ├── robot_3.csv
            ├── robot_4.csv
            ├── robot_5.csv 
            ├── U2
            └── . . .

Demo Videos: These are a few demo videos for your reference. We will have more demo videos for you shortly.

1. CV+IMU Demo; CV+IMU Interface
2. ARPose Application Demo; ARPose Application Interface
3. Synthetic/Autopilot Test Demo