OSMO: 人間からロボットへの技能転移のためのオープンソース触覚グローブ
OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer
人間とロボットの両方が同じ触覚グローブを装着し、人間の触覚データから直接ロボット政策を学習することで、接触を伴う拭き取り作業を72%の成功率で実現した。
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: Jessica Yin, Haozhi Qi, Youngsun Wi, Sayantan Kundu, Mike Lambeta, William Yang, Changhao Wang, Tingfan Wu, Jitendra Malik, Tess Hellebrekers
分類: cs.RO, cs.LG
原文アブストラクト
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation. We introduce OSMO, an open-source wearable tactile glove designed for human-to-robot skill transfer. The glove features 12 three-axis tactile sensors across the fingertips and palm and is designed to be compatible with state-of-the-art hand-tracking methods for in-the-wild data collection. We demonstrate that a robot policy trained exclusively on human demonstrations collected with OSMO, without any real robot data, is capable of executing a challenging contact-rich manipulation task. By equipping both the human and the robot with the same glove, OSMO minimizes the visual and tactile embodiment gap, enabling the transfer of continuous shear and normal force feedback while avoiding the need for image inpainting or other vision-based force inference. On a real-world wiping task requiring sustained contact pressure, our tactile-aware policy achieves a 72% success rate, outperforming vision-only baselines by eliminating contact-related failure modes. We release complete hardware designs, firmware, and assembly instructions to support community adoption.
