Disclosed are systems, devices, and methods for training a user of a robotic surgical system including a surgical robot using a virtual or augmented reality interface, an example method comprising localizing a three-dimensional (3D) model of the surgical robot relative to the interface, displaying or using the aligned view of the 3D model of the surgical robot using the virtual or augmented reality interface, continuously sampling a position and orientation of a head of the user as the head of the user is moved, and updating the pose of the 3D model of the surgical robot based on the sampled position and orientation of the head of the user.
