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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2411.03555 |
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| _version_ | 1866910686529978368 |
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| author | Büttner, Michael Francis, Jonathan Rhodin, Helge Melnik, Andrew |
| author_facet | Büttner, Michael Francis, Jonathan Rhodin, Helge Melnik, Andrew |
| contents | This paper introduces a method to enhance Interactive Imitation Learning (IIL) by extracting touch interaction points and tracking object movement from video demonstrations. The approach extends current IIL systems by providing robots with detailed knowledge of both where and how to interact with objects, particularly complex articulated ones like doors and drawers. By leveraging cutting-edge techniques such as 3D Gaussian Splatting and FoundationPose for tracking, this method allows robots to better understand and manipulate objects in dynamic environments. The research lays the foundation for more effective task learning and execution in autonomous robotic systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_03555 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Object and Contact Point Tracking in Demonstrations Using 3D Gaussian Splatting Büttner, Michael Francis, Jonathan Rhodin, Helge Melnik, Andrew Computer Vision and Pattern Recognition Robotics This paper introduces a method to enhance Interactive Imitation Learning (IIL) by extracting touch interaction points and tracking object movement from video demonstrations. The approach extends current IIL systems by providing robots with detailed knowledge of both where and how to interact with objects, particularly complex articulated ones like doors and drawers. By leveraging cutting-edge techniques such as 3D Gaussian Splatting and FoundationPose for tracking, this method allows robots to better understand and manipulate objects in dynamic environments. The research lays the foundation for more effective task learning and execution in autonomous robotic systems. |
| title | Object and Contact Point Tracking in Demonstrations Using 3D Gaussian Splatting |
| topic | Computer Vision and Pattern Recognition Robotics |
| url | https://arxiv.org/abs/2411.03555 |