Demonstrating Cloth Folding to Robots: Design and Evaluation of a 2D and a 3D User Interface

Benjamin Waymouth,Akansel Cosgun,Rhys Newbury,Tin Tran,Wesley P. Chan,Tom Drummond,Elizabeth Croft

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)（2021）

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摘要

An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an inter-action design for demonstrating cloth folding to robots. Users choose pick and place points on the cloth and can preview a visualization of a simulated cloth before real-robot execution. Two interfaces are proposed: A 2D display-and-...

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关键词

Training,Three-dimensional displays,Shape,Data visualization,Reinforcement learning,Data models,Task analysis

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