Tactile Logging for Understanding Plausible Tool Use Based on Human Demonstration
Tactile Logging for Understanding Plausible Tool Use Based on Human Demonstration
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发表时间：
2018
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通讯作者：
Shuichi Akizuki;Y. Aoki
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作者：
Shuichi Akizuki;Y. Aoki
在这篇文章中，我们提出了一种新的人-对象交互(HOI)表示来理解合理的工具使用；这是通过以对象为中心的方法来完成的。日常工具(如厨房或DIY器皿)具有手和周围物体触摸的理想区域和方向。通过对人类演示的分析，工具上发生的触觉历史被累积到工具的表面上，这可以帮助实现机器人手臂对工具的合理使用。我们还提出了一个用于评估生成的触觉日志的数据集，称为以对象为中心的交互(OCI)数据集，该数据集由人类可能使用的工具的RGB-D视频和视频中使用的工具的3D模型组成。我们确信，我们的触觉测井的精度是0.77。
In this paper, we propose a novel human-object interaction (HOI) representation for understanding plausible tool use; this is done by using an object-centric method. Ev-eryday tools (such as kitchen or DIY utensils) have the ideal region and direction for being touched by hands and surrounding objects. By analyzing the human demonstrations, tactile histories that occurred on the tools are accumulated to the tool’s surface as the "Tactile Log" , which can help to achieve the plausible tool use by robot arms. We also proposed a dataset for the evaluation of generated tactile logs, which is called the Object-Centric Interaction (OCI) dataset consists of RGB-D videos of plausible tool use by human and 3D models of the tools used in the videos. We confirm that the precision of our tactile logging is 0.77.