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Conference Paper
Development of a Hand Motion Tracking based Teleoperation System for Imitation learning
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- Authors
- Jinchul Choi, Heechul Bae, Chan-Won Park
- Issue Date
- 2023-10
- Citation
- International Conference on Information and Communication Technology Convergence (ICTC) 2023, pp.1832-1834
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- Imitation learning is emerging as one promising approach for robots to acquire skills. Since imitation learning provides a way to learn policies by imitating the behavior of experts, it requires a sufficient amount of sophisticated expert behavior trajectories. However, current interfaces, such as kinesthetic teaching or remote manipulation, have significant limitations in efficiently collecting diverse demonstration data. To address this issue, this work proposes an alternative interface for imitation that simplifies the demonstration acquisition process using a hand tracking solution while facilitating the transfer of human actions to the robot. Performance results show that the proposed system is effective for imitative learning, not only imitating expert demonstrations with low latency, but also helping to collect elaborate demonstration data.
- KSP Keywords
- Hand tracking, Human action, Imitation learning, Imitative learning, Low latency, Teleoperation system, hand motion tracking, kinesthetic teaching, remote manipulation, tracking solution