AnyUser: スケッチによるユーザ意図を家庭用ロボットへ変換する
AnyUser: Translating Sketched User Intent into Domestic Robots
カメラ画像への自由描画スケッチと任意の言語指示を統合し、事前マップやモデル不要で家庭用ロボットの実行可能な行動を生成する統一指示システムを提案。大規模データセットでの精度検証、実機2種でのタスク実行、多様なユーザ層でのユーザスタディにより有効性を示した。
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著者: Songyuan Yang, Huibin Tan, Kailun Yang, Wenjing Yang, Shaowu Yang
分類: cs.RO, cs.CV, cs.HC
原文アブストラクト
We introduce AnyUser, a unified robotic instruction system for intuitive domestic task instruction via free-form sketches on camera images, optionally with language. AnyUser interprets multimodal inputs (sketch, vision, language) as spatial-semantic primitives to generate executable robot actions requiring no prior maps or models. Novel components include multimodal fusion for understanding and a hierarchical policy for robust action generation. Efficacy is shown via extensive evaluations: (1) Quantitative benchmarks on the large-scale dataset showing high accuracy in interpreting diverse sketch-based commands across various simulated domestic scenes. (2) Real-world validation on two distinct robotic platforms, a statically mounted 7-DoF assistive arm (KUKA LBR iiwa) and a dual-arm mobile manipulator (Realman RMC-AIDAL), performing representative tasks like targeted wiping and area cleaning, confirming the system's ability to ground instructions and execute them reliably in physical environments. (3) A comprehensive user study involving diverse demographics (elderly, simulated non-verbal, low technical literacy) demonstrating significant improvements in usability and task specification efficiency, achieving high task completion rates (85.7%-96.4%) and user satisfaction. AnyUser bridges the gap between advanced robotic capabilities and the need for accessible non-expert interaction, laying the foundation for practical assistive robots adaptable to real-world human environments.
