research-article

Mimic: In-Situ Recording and Re-Use of Demonstrations to Support Robot Teleoperation

Authors:

Karthik Mahadevan,

Tovi GrossmanAuthors Info & Claims

UIST '22: Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology

Article No.: 40, Pages 1 - 13

https://doi.org/10.1145/3526113.3545639

Published: 28 October 2022 Publication History

Abstract

Remote teleoperation is an important robot control method when they cannot operate fully autonomously. Yet, teleoperation presents challenges to effective and full robot utilization: controls are cumbersome, inefficient, and the teleoperator needs to actively attend to the robot and its environment. Inspired by end-user programming, we propose a new interaction paradigm to support robot teleoperation for combinations of repetitive and complex movements. We introduce Mimic, a system that allows teleoperators to demonstrate and save robot trajectories as templates, and re-use them to execute the same action in new situations. Templates can be re-used through (1) macros—parametrized templates assigned to and activated by buttons on the controller, and (2) programs—sequences of parametrized templates that operate autonomously. A user study in a simulated environment showed that after initial set up time, participants completed manipulation tasks faster and more easily compared to traditional direct control.

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Cited By

Jiang XMattes PJia XSchreiber NNeumann GLioutikov RGrollman DBroadbent EJu WSoh HWilliams T(2024)A Comprehensive User Study on Augmented Reality-Based Data Collection Interfaces for Robot LearningProceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610977.3634995(333-342)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610977.3634995
Aoyama SLiu JWang PJain SWang XXu JSong STversky BFeiner S(2024)Asynchronously Assigning, Monitoring, and Managing Assembly Goals in Virtual Reality for High-Level Robot Teleoperation2024 IEEE Conference Virtual Reality and 3D User Interfaces (VR)10.1109/VR58804.2024.00066(450-460)Online publication date: 16-Mar-2024
https://doi.org/10.1109/VR58804.2024.00066
Winge CImdieke AAldeeb BKang DDesingh K(2024)Talk Through It: End User Directed Manipulation LearningIEEE Robotics and Automation Letters10.1109/LRA.2024.34333099:9(8051-8058)Online publication date: Sep-2024
https://doi.org/10.1109/LRA.2024.3433309

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cover image ACM Conferences

UIST '22: Proceedings of the 35th Annual ACM Symposium on User Interface Software and Technology

October 2022

1363 pages

ISBN:9781450393201

DOI:10.1145/3526113

Editors:
Maneesh Agrawala
Stanford University, USA
,
Jacob O. Wobbrock
University of Washington, USA
,
Eytan Adar
University of Michigan, USA
,
Vidya Setlur
Tableau Research, USA

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Cited By

Jiang XMattes PJia XSchreiber NNeumann GLioutikov RGrollman DBroadbent EJu WSoh HWilliams T(2024)A Comprehensive User Study on Augmented Reality-Based Data Collection Interfaces for Robot LearningProceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610977.3634995(333-342)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610977.3634995
Aoyama SLiu JWang PJain SWang XXu JSong STversky BFeiner S(2024)Asynchronously Assigning, Monitoring, and Managing Assembly Goals in Virtual Reality for High-Level Robot Teleoperation2024 IEEE Conference Virtual Reality and 3D User Interfaces (VR)10.1109/VR58804.2024.00066(450-460)Online publication date: 16-Mar-2024
https://doi.org/10.1109/VR58804.2024.00066
Winge CImdieke AAldeeb BKang DDesingh K(2024)Talk Through It: End User Directed Manipulation LearningIEEE Robotics and Automation Letters10.1109/LRA.2024.34333099:9(8051-8058)Online publication date: Sep-2024
https://doi.org/10.1109/LRA.2024.3433309
Goel HKumar ARagavan S(2023)End-User Programming is WEIRD: How, Why and What to Do About It2023 IEEE Symposium on Visual Languages and Human-Centric Computing (VL/HCC)10.1109/VL-HCC57772.2023.00013(41-50)Online publication date: 3-Oct-2023
https://doi.org/10.1109/VL-HCC57772.2023.00013

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