TeleMoma：一种面向移动操作的模块化通用遥操作系统
TeleMoMa: A Modular and Versatile Teleoperation System for Mobile Manipulation
AI总结：
TeleMoma是一种通用模块化移动操作遥操作接口，支持多种人类接口组合，降低演示收集门槛，并通过仿真和真实实验验证其通用性与数据质量。
摘要：
限制机器人模仿学习的一个关键瓶颈是缺乏数据。在移动操作中，由于缺乏可用且易于使用的遥操作接口，收集演示比在固定操作中更困难，这一问题更为严重。在本研究中，我们展示了TeleMoma，一种用于移动机械臂全身遥操作的通用模块化接口。TeleMoma统一了多种人类接口，包括RGB和深度相机、虚拟现实控制器、键盘、操纵杆等及其任意组合。在更易用的版本中，TeleMoma仅需视觉（例如RGB-D相机）即可工作，降低了人类提供移动操作演示的门槛。我们通过在仿真和现实世界中遥操作多个现有的移动机械臂——PAL Tiago++、Toyota HSR和Fetch，展示了TeleMoma的通用性。我们通过为涉及同步全身运动的移动操作任务训练模仿学习策略，展示了用TeleMoma收集的演示的质量。最后，我们还表明TeleMoma的遥操作通道支持现场看着机器人进行遥操作，或通过计算机网络发送指令和观测的远程遥操作，并进行了用户研究，以评估 novice 用户学习使用我们系统启用的不同人类接口组合收集演示的难易程度。我们希望TeleMoma成为社区的有用工具，使研究人员能够收集全身移动操作演示。更多信息及视频结果，请访问https://robin-lab.cs.utexas.edu/telemoma-web。
英文摘要：
A critical bottleneck limiting imitation learning in robotics is the lack of data. This problem is more severe in mobile manipulation, where collecting demonstrations is harder than in stationary manipulation due to the lack of available and easy-to-use teleoperation interfaces. In this work, we demonstrate TeleMoMa, a general and modular interface for whole-body teleoperation of mobile manipulators. TeleMoMa unifies multiple human interfaces including RGB and depth cameras, virtual reality controllers, keyboard, joysticks, etc., and any combination thereof. In its more accessible version, TeleMoMa works using simply vision (e.g., an RGB-D camera), lowering the entry bar for humans to provide mobile manipulation demonstrations. We demonstrate the versatility of TeleMoMa by teleoperating several existing mobile manipulators - PAL Tiago++, Toyota HSR, and Fetch - in simulation and the real world. We demonstrate the quality of the demonstrations collected with TeleMoMa by training imitation learning policies for mobile manipulation tasks involving synchronized whole-body motion. Finally, we also show that TeleMoMa's teleoperation channel enables teleoperation on site, looking at the robot, or remote, sending commands and observations through a computer network, and perform user studies to evaluate how easy it is for novice users to learn to collect demonstrations with different combinations of human interfaces enabled by our system. We hope TeleMoMa becomes a helpful tool for the community enabling researchers to collect whole-body mobile manipulation demonstrations. For more information and video results, https://robin-lab.cs.utexas.edu/telemoma-web.
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。
