Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a single human operator can manage a fleet of robots by identifying and teleoperati…
On-device research index
arXiv research
A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
168,695 papers · 148 categories
Trend · papers per month
8 results for “teleoperation”
Helps visually impaired users make better decisions by adjusting their observations.
problem Systematic biases in users' perception and processing of visual information.
method Synthesizes new observations based on true observations to correct user biases.
result Significant improvement in task performance for users with various biases.
The development of human-robot systems able to leverage the strengths of both humans and their robotic counterparts has been greatly sought after because of the foreseen, broad-ranging impact across industry and research. We believe the true potential of these systems cannot be reached unless the robot is able to act w…
We consider the problem of learning multi-stage vision-based tasks on a real robot from a single video of a human performing the task, while leveraging demonstration data of subtasks with other objects. This problem presents a number of major challenges. Video demonstrations without teleoperation are easy for humans to…
ORIL learns a reward function from unlabeled data to improve robot learning.
problem Leveraging unlabeled data for robot learning.
method ORIL learns a reward function from demonstrator and unlabeled trajectories, annotates data, and trains an agent via offline reinforcement learning.
result ORIL consistently outperforms BC agents on various robotic tasks.
New metric solves correspondence problem for robotic arm imitation learning.
problem Establishing corresponding states and actions between different robotic arms.
method Introducing a distance measure between dissimilar robotic arms and using it as a loss function.
result The distance measure effectively learns imitation policies by minimizing distance between robotic arms.
Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well as low-level tasks, like motion control, which are critical components for missi…
This thesis tackles learning reward functions from human comparative feedback.
problem Designing reward functions for complex tasks is challenging and humans often provide suboptimal demonstrations.
method Proposes learning reward functions from comparative feedback (pairwise comparisons, best-of-many choices, rankings, scaled comparisons) and active learning techniques.
result Demonstrates the effectiveness of learning reward functions from comparative feedback in various domains.