HRT1: 人間からロボットへのワンショット軌道転送による移動マニピュレーション
HRT1: One-Shot Human-to-Robot Trajectory Transfer for Mobile Manipulation
ARヘッドセットで撮影した人間のデモ動画から手の3D軌道を抽出し、移動マニピュレータのエンドエフェクタ軌道へ転送して、環境や物体配置が異なっても同じ作業を一度の実演で再現できるシステムを提案した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Sai Haneesh Allu, Jishnu Jaykumar P, Ninad Khargonkar, Tyler Summers, Jian Yao, Yu Xiang
分類: cs.RO
原文アブストラクト
We introduce a novel system for human-to-robot trajectory transfer that enables robots to manipulate objects by learning from human demonstration videos. The system consists of four modules. The first module is a data collection module that is designed to collect human demonstration videos from the point of view of a robot using an AR headset. The second module is a video understanding module that detects objects and extracts 3D human-hand trajectories from demonstration videos. The third module transfers a human-hand trajectory into a reference trajectory of a robot end-effector in 3D space. The last module utilizes a trajectory optimization algorithm to solve a trajectory in the robot configuration space that can follow the end-effector trajectory transferred from the human demonstration. Consequently, these modules enable a robot to watch a human demonstration video once and then repeat the same mobile manipulation task in different environments, even when objects are placed differently from the demonstrations. Experiments of different manipulation tasks are conducted on a mobile manipulator to verify the effectiveness of our system
