一种用于上半身人形机器人遥控的闭式几何重定向求解器
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
AI总结：
SEW-Mimic通过几何方法实现高效且准确的双臂人形机器人遥控重定向，提升任务成功率和策略学习效果。
摘要：
将人类动作重定向到机器人姿态是遥控双臂人形机器人手臂的一种实用方法，但现有方法可能效果不佳且速度慢，常导致不希望的动作或延迟。这是由于优化以匹配机器人末端执行器到人类手部位置和方向，这也可以限制机器人的工作空间到人类的范围。相反，本文将重定向重新框架为一个方向对齐问题，从而获得一个闭式几何解算算法，具有最优性保证。关键思想是将机器人手臂对齐到人类的上臂和下臂方向，这些方向是从肩部、肘部和手腕（SEW）关键点识别得到的；因此，该方法称为SEW-Mimic。该方法在标准商用CPU上具有快速推理（3 kHz），将计算开销留给了下游应用；本文中的一个例子是一个安全过滤器，用于避免双臂自碰撞。该方法适用于大多数7自由度机器人手臂和人形机器人，并且不依赖于输入关键点源。实验表明，SEW-Mimic在计算时间和准确性上优于其他重定向方法。一项初步用户研究表明，该方法提高了遥控任务的成功率。初步分析表明，使用SEW-Mimic收集的数据由于更平滑而促进了策略学习。SEW-Mimic还被证明是加速完整人形机器人重定向的一种即插即用的方法。最后，硬件演示证明了SEW-Mimic的实用性。结果强调了SEW-Mimic作为双臂机器人操作和人形机器人遥控基本构建块的实用性。
英文摘要：
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match robot end-effector to human hand position and orientation, which can also limit the robot's workspace to that of the human. Instead, this paper reframes retargeting as an orientation alignment problem, enabling a closed-form, geometric solution algorithm with an optimality guarantee. The key idea is to align a robot arm to a human's upper and lower arm orientations, as identified from shoulder, elbow, and wrist (SEW) keypoints; hence, the method is called SEW-Mimic. The method has fast inference (3 kHz) on standard commercial CPUs, leaving computational overhead for downstream applications; an example in this paper is a safety filter to avoid bimanual self-collision. The method suits most 7-degree-of-freedom robot arms and humanoids, and is agnostic to input keypoint source. Experiments show that SEW-Mimic outperforms other retargeting methods in computation time and accuracy. A pilot user study suggests that the method improves teleoperation task success. Preliminary analysis indicates that data collected with SEW-Mimic improves policy learning due to being smoother. SEW-Mimic is also shown to be a drop-in way to accelerate full-body humanoid retargeting. Finally, hardware demonstrations illustrate SEW-Mimic's practicality. The results emphasize the utility of SEW-Mimic as a fundamental building block for bimanual robot manipulation and humanoid robot teleoperation.
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。
