[npew]

We actually use both. The data used to train the neural networks is all generated through a scripted policy simulation. We then use a single human demonstration in VR to show the robot how to carry out a particular task. VR lets a human do a demonstration quite naturally, and would also be an effective way to collect training data for more complex tasks, where we’re not be able to create a scripted policy.

[tomdre]

Thanks for your reply. So essentially VR doesn't affect the training phase per se, but simplifies the life of the trainer.