RoboCade：ロボットデータ収集をゲーム化
RoboCade: Gamifying Robot Data Collection
一般ユーザーが遠隔操作でゲーム感覚でロボットのデモデータを収集できるプラットフォームを開発し、そのデータで訓練した方策が対象タスクの成功率を16〜56%向上させることを示した。
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: Suvir Mirchandani, Mia Tang, Jiafei Duan, Jubayer Ibn Hamid, Michael Cho, Dorsa Sadigh
分類: cs.RO
原文アブストラクト
Imitation learning from human demonstrations has become a dominant approach for training autonomous robot policies. However, collecting demonstration datasets is costly: it often requires access to robots and needs sustained effort in a tedious, long process. These factors limit the scale of data available for training policies. We aim to address this scalability challenge by involving a broader audience in a gamified data collection experience that is both accessible and motivating. Specifically, we develop a gamified remote teleoperation platform, RoboCade, to engage general users in collecting data that is beneficial for downstream policy training. To do this, we embed gamification strategies into the design of the system interface and data collection tasks. In the system interface, we include components such as visual feedback, sound effects, goal visualizations, progress bars, leaderboards, and badges. We additionally propose principles for constructing gamified tasks that have overlapping structure with useful downstream target tasks. We instantiate RoboCade on three manipulation tasks -- including spatial arrangement, scanning, and insertion. To illustrate the viability of gamified robot data collection, we collect a demonstration dataset through our platform, and show that co-training robot policies with this data can improve success rate on non-gamified target tasks (+16-56%). Further, we conduct a user study to validate that novice users find the gamified platform significantly more enjoyable than a standard non-gamified platform (+24%). These results highlight the promise of gamified data collection as a scalable, accessible, and engaging method for collecting demonstration data.
