XRoboToolkit：延迟低、可扩展、质量高的数据采集框架

Core Insights - The article discusses the development of XRoboToolkit, a cross-platform framework for robot teleoperation, addressing the increasing demand for large-scale, high-quality robot demonstration datasets due to the rapid advancement of visual-language-action models (VLAs) [3]. Existing Teleoperation Solutions Limitations - Current teleoperation frameworks have various shortcomings, including limited scalability, complex setup processes, and poor data quality [4][5]. XRoboToolkit's Core Design - The framework features a three-layer architecture for cross-platform integration, comprising XR end components, robot end components, and a service layer for real-time teleoperation and stereo vision [4][5]. Data Streaming and Transmission - XRoboToolkit employs an asynchronous callback-driven architecture for real-time data transmission from XR hardware to the client, with a focus on various tracking data formats [7][9]. Robot Control Module - The inverse kinematics (IK) solver is based on quadratic programming (QP) to generate smooth movements, particularly near kinematic singularities, enhancing stability [8][10]. XR Unity Application and Stereo Vision Feedback - The framework has been validated across multiple platforms, demonstrating an average latency of 82ms, significantly lower than the 121.5ms of Open-TeleVision, with a standard deviation of 6.32ms [11][13]. - Data quality was verified through the collection of 100 data points, achieving a 100% success rate in a 30-minute continuous operation [11][14]. Application Interface and Features - The application interface includes five panels for network status, tracking configuration, remote vision, data collection, and system diagnostics, supporting various devices [16]. - Stereo vision capabilities are optimized for depth perception, with the PICO 4 Ultra outperforming in visual quality metrics [16].