Teleop Demonstration Accumulation for Diffusion Policies

Introduction

Diffusion policies require accumulation of demos. Based on webXR browser, we can teleoperate a real piper robot and pybullet simulation environment. The end-effector follows the twist of the handheld device. Handheld device twist sampled at 10 Hz, robot follows at 200 Hz.

Teleoperation

Deployment

Captured Input

RGB input

Depth input