Virtual Reality for Demonstrating Tool Pose

Publikation: Konferencebidrag uden forlag/tidsskriftKonferenceabstrakt til konferenceForskningpeer review

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Resumé

We investigate the viability of collecting demonstrations, for learning robot control, in Virtual Reality (VR). If acceptable demonstrations can be collected offline using VR, problems with affecting the production line can be avoided and large amounts of realistic data from the actual production environment can be used.
We show that the relatively low detail data that can be captured from the production line using a RGB-D camera provides sufficient information for an expert to perform acceptable demonstrations in Virtual-Reality. However, performance is not yet on par with what can be achieved through real world observations. We propose several future improvements that will help close the gap.
OriginalsprogEngelsk
Publikationsdato5 okt. 2018
StatusUdgivet - 5 okt. 2018
BegivenhedAutomating Robot Experiments: Manipulation and Learning - Madrid, Spanien
Varighed: 5 okt. 20185 okt. 2018
http://www.cs.cmu.edu/~lerrelp/AutomatingRobotExperiments/

Workshop

WorkshopAutomating Robot Experiments
LandSpanien
ByMadrid
Periode05/10/201805/10/2018
Internetadresse

Fingerprint

Virtual reality
Demonstrations
Robot learning
Cameras

Emneord

  • VR
  • Robot
  • RGB-D
  • demonstration

Citer dette

Philipsen, M. P., Wu, H., & Moeslund, T. B. (2018). Virtual Reality for Demonstrating Tool Pose. Abstract fra Automating Robot Experiments, Madrid, Spanien.
Philipsen, Mark Philip ; Wu, Haiyan ; Moeslund, Thomas B. / Virtual Reality for Demonstrating Tool Pose. Abstract fra Automating Robot Experiments, Madrid, Spanien.
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title = "Virtual Reality for Demonstrating Tool Pose",
abstract = "We investigate the viability of collecting demonstrations, for learning robot control, in Virtual Reality (VR). If acceptable demonstrations can be collected offline using VR, problems with affecting the production line can be avoided and large amounts of realistic data from the actual production environment can be used.We show that the relatively low detail data that can be captured from the production line using a RGB-D camera provides sufficient information for an expert to perform acceptable demonstrations in Virtual-Reality. However, performance is not yet on par with what can be achieved through real world observations. We propose several future improvements that will help close the gap.",
keywords = "VR, Robot, RGB-D, demonstration",
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Philipsen, MP, Wu, H & Moeslund, TB 2018, 'Virtual Reality for Demonstrating Tool Pose', Automating Robot Experiments, Madrid, Spanien, 05/10/2018 - 05/10/2018.

Virtual Reality for Demonstrating Tool Pose. / Philipsen, Mark Philip; Wu, Haiyan; Moeslund, Thomas B.

2018. Abstract fra Automating Robot Experiments, Madrid, Spanien.

Publikation: Konferencebidrag uden forlag/tidsskriftKonferenceabstrakt til konferenceForskningpeer review

TY - ABST

T1 - Virtual Reality for Demonstrating Tool Pose

AU - Philipsen, Mark Philip

AU - Wu, Haiyan

AU - Moeslund, Thomas B.

PY - 2018/10/5

Y1 - 2018/10/5

N2 - We investigate the viability of collecting demonstrations, for learning robot control, in Virtual Reality (VR). If acceptable demonstrations can be collected offline using VR, problems with affecting the production line can be avoided and large amounts of realistic data from the actual production environment can be used.We show that the relatively low detail data that can be captured from the production line using a RGB-D camera provides sufficient information for an expert to perform acceptable demonstrations in Virtual-Reality. However, performance is not yet on par with what can be achieved through real world observations. We propose several future improvements that will help close the gap.

AB - We investigate the viability of collecting demonstrations, for learning robot control, in Virtual Reality (VR). If acceptable demonstrations can be collected offline using VR, problems with affecting the production line can be avoided and large amounts of realistic data from the actual production environment can be used.We show that the relatively low detail data that can be captured from the production line using a RGB-D camera provides sufficient information for an expert to perform acceptable demonstrations in Virtual-Reality. However, performance is not yet on par with what can be achieved through real world observations. We propose several future improvements that will help close the gap.

KW - VR

KW - Robot

KW - RGB-D

KW - demonstration

M3 - Conference abstract for conference

ER -

Philipsen MP, Wu H, Moeslund TB. Virtual Reality for Demonstrating Tool Pose. 2018. Abstract fra Automating Robot Experiments, Madrid, Spanien.