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RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation [article]

Ajay Mandlekar, Yuke Zhu, Animesh Garg, Jonathan Booher, Max Spero, Albert Tung, Julian Gao, John Emmons, Anchit Gupta, Emre Orbay, Silvio Savarese, Li Fei-Fei
<span title="2018-11-07">2018</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
RoboTurk is a crowdsourcing platform for high quality 6-DoF trajectory based teleoperation through the use of widely available mobile devices (e.g. iPhone).  ...  Imitation Learning has empowered recent advances in learning robotic manipulation tasks by addressing shortcomings of Reinforcement Learning such as exploration and reward specification.  ...  We would also like to thank members of the Stanford People, AI & Robots (PAIR) group (pair.stanford.edu) and the anonymous reviewers for their constructive feedback.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1811.02790v1">arXiv:1811.02790v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qrtkjsf6ivewdeenq4d3fb2f6m">fatcat:qrtkjsf6ivewdeenq4d3fb2f6m</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200827212839/https://arxiv.org/pdf/1811.02790v1.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/cd/a4/cda470bede832f2965e594f9bdee79d6973a91e9.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1811.02790v1" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity [article]

Ajay Mandlekar, Jonathan Booher, Max Spero, Albert Tung, Anchit Gupta, Yuke Zhu, Animesh Garg, Silvio Savarese, Li Fei-Fei
<span title="2019-11-11">2019</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
In this work, we leverage and extend the RoboTurk platform to scale up data collection for robotic manipulation using remote teleoperation.  ...  The primary motivation for our platform is two-fold: (1) to address the shortcomings of prior work and increase the total quantity of manipulation data collected through human supervision by an order of  ...  Summary of Contributions: 1) We extend the RoboTurk crowdsourcing platform to enable remote data collection on physical robots.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1911.04052v1">arXiv:1911.04052v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/imemzmglurcednuarepjmoy664">fatcat:imemzmglurcednuarepjmoy664</a> </span>
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Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations [article]

Henry M. Clever, Ankur Handa, Hammad Mazhar, Kevin Parker, Omer Shapira, Qian Wan, Yashraj Narang, Iretiayo Akinola, Maya Cakmak, Dieter Fox
<span title="2021-12-09">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We present Assistive Tele-op, a virtual reality (VR) system for collecting robot task demonstrations that displays an autonomous trajectory forecast to communicate the robot's intent.  ...  Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models.  ...  Roboturk: A crowdsourcing platform for robotic skill learning through imitation. In Conference on Robot Learning, pages 879–893.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2112.05129v1">arXiv:2112.05129v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/svz6ubkv7jellkty2bbf425m6y">fatcat:svz6ubkv7jellkty2bbf425m6y</a> </span>
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SIGVerse: A Cloud-Based VR Platform for Research on Multimodal Human-Robot Interaction

Tetsunari Inamura, Yoshiaki Mizuchi
<span title="2021-05-31">2021</span> <i title="Frontiers Media SA"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/t4zwwbshrrfd3hjbg4s3bysm7q" style="color: black;">Frontiers in Robotics and AI</a> </i> &nbsp;
Hence, the purpose of this study is to propose a research platform that can comprehensively provide the elements required for HRI research by integrating VR and cloud technologies.  ...  To realize a flexible and reusable system, we developed a real-time bridging mechanism between the robot operating system (ROS) and Unity.  ...  In fact, in the ROBOTURK system (Mandlekar et al., 2018) , the robot teleoperation system is implemented by a simple mobile application, and human skills are collected and learned by a robot via crowdsourcing  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.3389/frobt.2021.549360">doi:10.3389/frobt.2021.549360</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/34136534">pmid:34136534</a> <a target="_blank" rel="external noopener" href="https://pubmed.ncbi.nlm.nih.gov/PMC8202404/">pmcid:PMC8202404</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/5nibhsqggzhbbg2kfxw7hnf4oy">fatcat:5nibhsqggzhbbg2kfxw7hnf4oy</a> </span>
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Guided Imitation of Task and Motion Planning [article]

Michael James McDonald, Dylan Hadfield-Menell
<span title="2021-12-06">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
First, we build an asynchronous distributed TAMP solver that can produce supervision data fast enough for imitation learning.  ...  In robotic manipulation tasks with 7-DoF joint control, the partially trained policies reduce the time needed for planning by a factor of up to 2.6.  ...  Roboturk: A crowdsourcing platform for robotic skill learning through imitation. In Conference on Robot Learning, 2018. 11 [38] M. McDonald.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2112.03386v1">arXiv:2112.03386v1</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/liiwhjl67fao7phu2tuj4bj7yy">fatcat:liiwhjl67fao7phu2tuj4bj7yy</a> </span>
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FINO-Net: A Deep Multimodal Sensor Fusion Framework for Manipulation Failure Detection [article]

Arda Inceoglu, Eren Erdal Aksoy, Abdullah Cihan Ak, Sanem Sariel
<span title="2021-07-30">2021</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
Safe manipulation in unstructured environments for service robots is a challenging problem. A failure detection system is needed to monitor and detect unintended outcomes.  ...  We also introduce a multimodal dataset, containing 229 real-world manipulation data recorded with a Baxter robot.  ...  For example, RoboTurk [31] , [32] is a crowdsourced simulation tool to collect teleoperated manipulation data for imitation learning.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/2011.05817v2">arXiv:2011.05817v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/h7nyy7v7xzaylfnsowhygv6ct4">fatcat:h7nyy7v7xzaylfnsowhygv6ct4</a> </span>
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