多功能示教接口：迈向更灵活的机器人示教数据采集
Versatile Demonstration Interface: Toward More Flexible Robot Demonstration Collection
AI总结：
本文提出协作机器人附件 VDI，通过视觉、力觉与状态跟踪支持三类示教采集，并在制造专家参与的工业用户研究中验证其灵活性与实用价值。
摘要：
以往的从示教中学习方法采用多种方式让人类向机器人教授动作，包括遥操作、动觉教学和自然示教。然而，此前很少有工作探索支持多种示教类型的更通用接口。鉴于人类示教者的偏好和任务特征各不相同，一种能够支持多种示教类型的灵活工具，对于更广泛的机器人技能训练可能至关重要。在本工作中，我们提出了 Versatile Demonstration Interface（VDI，多功能示教接口），这是一种协作机器人附件，可简化三种常见示教类型的采集。该工具面向工业场景中的灵活部署而设计，无需对环境进行额外的仪器化改造。我们的原型接口通过视觉、力觉传感和状态跟踪（例如通过机器人本体感觉或 AprilTag 跟踪）相结合的方式捕捉人类示教。我们在当地一家制造创新中心部署了 VDI 原型，并与制造专家共同开展用户研究，在具有代表性的工业任务中演示了 VDI。研究中的互动凸显了 VDI 多种示教类型的实用价值，揭示了 VDI 的一系列工业用例，并为未来工具设计提供了洞见。
英文摘要：
Previous methods for Learning from Demonstration leverage several approaches for a human to teach motions to a robot, including teleoperation, kinesthetic teaching, and natural demonstrations. However, little previous work has explored more general interfaces that allow for multiple demonstration types. Given the varied preferences of human demonstrators and task characteristics, a flexible tool that enables multiple demonstration types could be crucial for broader robot skill training. In this work, we propose Versatile Demonstration Interface (VDI), an attachment for collaborative robots that simplifies the collection of three common types of demonstrations. Designed for flexible deployment in industrial settings, our tool requires no additional instrumentation of the environment. Our prototype interface captures human demonstrations through a combination of vision, force sensing, and state tracking (e.g., through the robot proprioception or AprilTag tracking). Through a user study where we deployed our prototype VDI at a local manufacturing innovation center with manufacturing experts, we demonstrated VDI in representative industrial tasks. Interactions from our study highlight the practical value of VDI's varied demonstration types, expose a range of industrial use cases for VDI, and provide insights for future tool design.
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。
