使用用户指定的感知地标进行演示编程
Programming by Demonstration with User-Specified Perceptual Landmarks
摘要：
演示编程（PbD）是开发复杂机器人操作任务的有效技术，例如打开瓶子或使用人类工具。为了将这些任务推广到新的场景，机器人需要能够感知物体、物体部分或场景中与任务相关的其他部分。以前的工作依赖于刚性的，特定于任务的感知系统。本文提出了一种灵活的和开放式的感知系统，让用户指定感性的“地标”在演示过程中，通过捕获部分点云从演示场景。我们提出了一种方法，在新的场景中定位地标和实验评估这种方法在各种设置。然后，我们提供的例子中，用户指定的地标与PbD一起使用的PR2机器人执行几个复杂的操作任务。最后，我们提出的结果，从我们的地标规范界面的用户评价证明其作为最终用户工具的可行性。
英文摘要：
Programming by demonstration (PbD) is an effective technique for developing complex robot manipulation tasks, such as opening bottles or using human tools. In order for such tasks to generalize to new scenes, the robot needs to be able to perceive objects, object parts, or other task-relevant parts of the scene. Previous work has relied on rigid, task-specific perception systems for this purpose. This paper presents a flexible and open-ended perception system that lets users specify perceptual "landmarks" during the demonstration, by capturing parts of the point cloud from the demonstration scene. We present a method for localizing landmarks in new scenes and experimentally evaluate this method in a variety of settings. Then, we provide examples where user-specified landmarks are used together with PbD on a PR2 robot to perform several complex manipulation tasks. Finally, we present findings from a user evaluation of our landmark specification interface demonstrating its feasibility as an end-user tool.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
