Single RGB-D Camera Teleoperation for General Robotic Manipulation
This work aims to lower the barrier to teleoperation for robotic manipulation, potentially benefiting supervised autonomy systems and dataset generation, though it appears incremental in its technical approach.
The authors tackled the problem of enabling general robotic manipulation tasks via teleoperation using only a single RGB-D camera for motion capture, achieving performance in tasks like cloth folding, hammering, and 3mm clearance peg-in-hole.
We propose a teleoperation system that uses a single RGB-D camera as the human motion capture device. Our system can perform general manipulation tasks such as cloth folding, hammering and 3mm clearance peg in hole. We propose the use of non-Cartesian oblique coordinate frame, dynamic motion scaling and reposition of operator frames to increase the flexibility of our teleoperation system. We hypothesize that lowering the barrier of entry to teleoperation will allow for wider deployment of supervised autonomy system, which will in turn generates realistic datasets that unlock the potential of machine learning for robotic manipulation. Demo of our systems are available online https://sites.google.com/view/manipulation-teleop-with-rgbd