AI empowered general purpose assistive robotiC system for dexterous object manipulation tHrough embodIed teleopeRation and shared cONtrol

对物体的灵巧操作是机器人学的核心任务。由于即使是简单的操作任务，机器人控制器的设计也很复杂，目前使用的机器人大多局限于已知环境中的特定任务。在CHIRON项目中，我们的目标是开发一种支持人工智能的通用机器人系统，用于在快速变化、动态和不可预测的真实世界环境中灵活操纵复杂和未知的对象。这将通过在优化的共享控制下实现直观的具体化机器人遥操作-在具有直观触觉界面的人类操作员和被赋予基于AI的视觉和学习技能的机器人控制器之间进行优化的共享控制。这种系统的特权用例是，通过由他们自己遥控的直观且具体的机器人，在日常生活中帮助身体能力有限的患者或老年人处理物体，例如，取一瓶水并将其倒入玻璃杯中。这样的对象操作对他们来说是不可能的。为了使这样一个用于灵活操作的具体化远程操作机器人系统成为可能，从而无需对要操作的对象和操作环境进行任何假设，CHIRON项目在不同的人工智能应用领域同时进行了独特的创新：机器人学、计算机视觉和机器学习。

Dexterous manipulation of objects is a core task in robotics. Because of the design complexity needed for robot controllers even for simple manipulation task, robots currently in use are mostly limited to specific tasks within known environment. Within the CHIRON project, we aim to develop an AI empowered general purpose robotic system for dexterous manipulation of complex and unknown objects in rapidly changing, dynamic and unpredictable real-world environments. This will be achieved through intuitive embodied robotic teleoperation under optimized shared-control between the human operator enhanced with an intuitive haptic interface and the robot controller empowered with AI-based vision and learning skills. The privileged use case of such a system is assistance for "stick-to-bed" patients or elders with limited physical ability in their daily life object manipulation tasks, e.g., fetching a bottle of water and pouring it into a glass, through an intuitive and embodied robot tele-operated by themself. Such object manipulations would be otherwise not possible for them.To make possible such an embodied tele-operated robotic system for dexterous manipulation, thus without any assumption about the object to be manipulated and the operating environment, the CHIRON project features unique innovations simultaneously on different AI applied domains: robotics, computer vision and machine learning.