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• W3205000999 abstract "Studies in robot teleoperation have been centered around action specifications -- from continuous joint control to discrete end-effector pose control. However, these robot-centric interfaces often require skilled operators with extensive robotics expertise. To make teleoperation accessible to non-expert users, we propose the framework Scene Editing as Teleoperation (SEaT), where the key idea is to transform the traditional robot-centric interface into a scene-centric interface -- instead of controlling the robot, users focus on specifying the task's goal by manipulating digital twins of the real-world objects. As a result, a user can perform teleoperation without any expert knowledge of the robot hardware. To achieve this goal, we utilize a category-agnostic scene-completion algorithm that translates the real-world workspace (with unknown objects) into a manipulable virtual scene representation and an action-snapping algorithm that refines the user input before generating the robot's action plan. To train the algorithms, we procedurally generated a large-scale, diverse kit-assembly dataset that contains object-kit pairs that mimic real-world object-kitting tasks. Our experiments in simulation and on a real-world system demonstrate that our framework improves both the efficiency and success rate for 6DoF kit-assembly tasks. A user study demonstrates that SEaT framework participants achieve a higher task success rate and report a lower subjective workload compared to an alternative robot-centric interface. Video can be found at https://www.youtube.com/watch?v=-NdR3mkPbQQ ." @default.
• W3205000999 created "2021-10-25" @default.
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• W3205000999 date "2021-10-09" @default.
• W3205000999 modified "2023-10-06" @default.
• W3205000999 title "Scene Editing as Teleoperation: A Case Study in 6DoF Kit Assembly" @default.
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• W3205000999 doi "https://doi.org/10.48550/arxiv.2110.04450" @default.
• W3205000999 hasPublicationYear "2021" @default.
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