- Research conducted at CGUI Lab
- FMRG SingleSite ~202310
- I want to write an overview based on publicly available information (blu3mo)
- Scene Editing as Teleoperation: A Case Study in 6DoF Kit Assembly | IEEE Conference Publication | IEEE Xplore
- https://sharegpt.com/c/uT9tb19
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Abstract— Previous research on teleoperation of robots has focused on robot motion and positioning. However, such “robot-centric” operations require specialized knowledge and skills, making it difficult for the general public. To address this issue, we propose a new framework called “Scene Editing as Teleoperation” (SEaT).
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In SEaT, users manipulate scenes and objects digitally instead of directly controlling the robot itself. Specifically, users specify the desired outcome by manipulating digital twins of real-world objects. The robot then understands this and performs the task accordingly. This allows remote operation of robots even without specialized knowledge.
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Furthermore, we employ new techniques to virtually represent real-world work environments and appropriately adjust the specified operations. This makes it easier for users to perform the desired operations.
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To evaluate this system, we created a large and diverse dataset of virtual assembly tasks and trained the system. We conducted experiments using both simulations and real robots, confirming that this new approach improves the efficiency and success rate of assembly tasks.
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In addition, user evaluations have shown that using SEaT leads to higher success rates and less stress compared to conventional “robot-centric” operations.
- blu3mo is conducting further research on this.