AnyTeleop：一個通用基於視覺的靈巧機器人手臂-手部遠端操作系統

摘要

基於視覺的遠端操作為機器人提供了與環境進行物理互動的人類級智能可能性，同時僅需要低成本攝像頭感應器。然而，目前的基於視覺的遠端操作系統是針對特定機器人模型和部署環境而設計和工程化的，隨著機器人模型的擴展和操作環境的多樣性增加，其擴展性較差。在本文中，我們提出了AnyTeleop，一個統一且通用的遠端操作系統，支持單一系統內的多個不同手臂、手部、虛擬環境和攝像頭配置。儘管旨在為模擬器和真實硬體的選擇提供極大靈活性，我們的系統仍然可以實現出色的性能。在真實世界的實驗中，AnyTeleop可以在使用相同機器人的情況下，以較高的成功率優於先前為特定機器人硬體設計的先前系統。在模擬中的遠端操作方面，AnyTeleop相對於專為該模擬器設計的先前系統，能夠實現更好的模仿學習性能。項目頁面：http://anyteleop.com/。

English

Vision-based teleoperation offers the possibility to endow robots with human-level intelligence to physically interact with the environment, while only requiring low-cost camera sensors. However, current vision-based teleoperation systems are designed and engineered towards a particular robot model and deploy environment, which scales poorly as the pool of the robot models expands and the variety of the operating environment increases. In this paper, we propose AnyTeleop, a unified and general teleoperation system to support multiple different arms, hands, realities, and camera configurations within a single system. Although being designed to provide great flexibility to the choice of simulators and real hardware, our system can still achieve great performance. For real-world experiments, AnyTeleop can outperform a previous system that was designed for a specific robot hardware with a higher success rate, using the same robot. For teleoperation in simulation, AnyTeleop leads to better imitation learning performance, compared with a previous system that is particularly designed for that simulator. Project page: http://anyteleop.com/.

AnyTeleop：一個通用基於視覺的靈巧機器人手臂-手部遠端操作系統

AnyTeleop: A General Vision-Based Dexterous Robot Arm-Hand Teleoperation System

摘要

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