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• W2978071944 abstract "We describe a mobile manipulation hardware and software system capable of autonomously performing complex human-level tasks in real homes, after being taught the task with a single demonstration from a person in virtual reality. This is enabled by a highly capable mobile manipulation robot, whole-body task space hybrid position/force control, teaching of parameterized primitives linked to a robust learned dense visual embeddings representation of the scene, and a task graph of the taught behaviors. We demonstrate the robustness of the approach by presenting results for performing a variety of tasks, under different environmental conditions, in multiple real homes. Our approach achieves 85% overall success rate on three tasks that consist of an average of 45 behaviors each." @default.
• W2978071944 created "2019-10-10" @default.
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• W2978071944 date "2019-09-30" @default.
• W2978071944 modified "2023-10-18" @default.
• W2978071944 title "A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes" @default.
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• W2978071944 doi "https://doi.org/10.48550/arxiv.1910.00127" @default.
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