• Integrating Field of View in Human-Aware Collaboration
  • Overview
  • Installation Instructions
    • Install SteamVR
    • Install Oculus
    • Set up the Repositories
  • Usage
    • Running the scripts
    • Runtime arguments
  • Citation
  • Contact

Integrating Field of View in Human-Aware Collaboration

Overview

This project is organized into three repositories including this one. Briefly, the repositories are described as follows.

Repository	Link	Purpose
view-aware-hrc	Link	Parent repo with setup and launch instructions.
3d-plan-eval	Link	Repo for running the vr kitchen environment.
FOV-aware-planner	Link	Repo for running various planners for the robot agent.

For a more detailed description please refer to the individual READMEs of the repositories using the provided links.

Installation Instructions

We highly recommend using windows to use the VR. Majority of the testing for this project, especially with VR has been done in windows only.

Install SteamVR

Install the SteamVR (found here) using the steam platform.

Install Oculus

• Perform the initial setup of your VR headset. For oculus/quest see this.
• Set the VR headset to run with SteamVR. For oculus/quest see this.

Set up the Repositories

Clone the project using:

git clone --recurse-submodules git@github.com/SophieHsu/view-aware-hrc.git
or
git clone --recurse-submodules https://github.com/SophieHsu/3d-plan-eval

This will clone this repository along with the necessary repositories as submodules. The 3d-plan-eval repository will be cloned in the vr_kitchen directory and the FOV-aware-planner repository will be cloned in the fov-aware-planner directory.

Next, set up the virtual environments used to run the code inside the two submodule repositories using the provided setup_env.sh script. For windows:

.\setup_venv.ps1 # for windows
or
./setup.bash # for linux/mac

Usage

Running the scripts

Launch the planner and the VR kitchen environment using the following command.

python3 launch.py

You can analyze the run by copying the entire log folder (e.g. 3d-plan-eval/src/logs/{id}) to here and follow the steps described here.

Runtime arguments

The launch.py file proves launch config in the __LAUNCH_CONFIG var which can be updated to change the arguments used to run the individual scripts. A brief description of the launch argument is also provided in the file.

Citation

Please cite this work using the following BibTex:

@inproceedings{hsu2025integrating,
  title={Integrating Field of View in Human-Aware Collaborative Planning},
  author={Hsu, Ya-Chuan and Defranco, Michael and Patel, Rutvik and Nikolaidis, Stefanos},
  booktitle={Proceedings of the International Conference on Robotics and Automation (ICRA). IEEE},
  year={2025}
}

Contact

For any questions, please reach out to: yachuanh@usc.edu