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VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction

René Zurbrügg, Tifanny Portela, Arjun Bhardwaj, Aravind Elanjimattathil Vijayan, Maximum Wilder-Smith, Marco Hutter

2026

Abstract

Learning from demonstrations is effective for robotic manipulation, but collecting sufficient task-specific data remains a major bottleneck. Under distribution shift, small errors compound, performance degrades, and expert time is often spent on redundant, low-value corrections instead of the few critical failure cases.

Keywords

VR-DAggerdexterous manipulationdata collectiondistribution shifton-policy correction

VR-DAgger: Immersive VR for Dexterous Data Collection and Uncertainty-Guided On-Policy Correction

Abstract

Keywords

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