Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866910680744984576 |
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| author | Sen, Bipasha Wang, Michelle Thakur, Nandini Agarwal, Aditya Agrawal, Pulkit |
| author_facet | Sen, Bipasha Wang, Michelle Thakur, Nandini Agarwal, Aditya Agrawal, Pulkit |
| contents | We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or tilting, the system provides operators with a more intuitive and comprehensive view of the environment, improving task performance, reducing cognitive load, and facilitating complex whole-body manipulation. We demonstrate the benefits of natural perception across seven challenging teleoperation tasks, showing how the actuated neck enhances the scope and efficiency of remote operation. Furthermore, we investigate its role in training autonomous policies through imitation learning. In three distinct tasks, the actuated neck supports better spatial awareness, reduces distribution shift, and enables adaptive task-specific adjustments compared to a static wide-angle camera. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_00704 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck Sen, Bipasha Wang, Michelle Thakur, Nandini Agarwal, Aditya Agrawal, Pulkit Robotics We introduce a teleoperation system that integrates a 5 DOF actuated neck, designed to replicate natural human head movements and perception. By enabling behaviors like peeking or tilting, the system provides operators with a more intuitive and comprehensive view of the environment, improving task performance, reducing cognitive load, and facilitating complex whole-body manipulation. We demonstrate the benefits of natural perception across seven challenging teleoperation tasks, showing how the actuated neck enhances the scope and efficiency of remote operation. Furthermore, we investigate its role in training autonomous policies through imitation learning. In three distinct tasks, the actuated neck supports better spatial awareness, reduces distribution shift, and enables adaptive task-specific adjustments compared to a static wide-angle camera. |
| title | Learning to Look Around: Enhancing Teleoperation and Learning with a Human-like Actuated Neck |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.00704 |