AnyTeleop：一种基于视觉的通用灵巧机器人臂-手远程操作系统

摘要

基于视觉的远程操作为机器人赋予人类水平的智能，使其能够与环境进行物理交互，同时只需要低成本的摄像头传感器。然而，当前基于视觉的远程操作系统是针对特定机器人模型和部署环境进行设计和工程化的，随着机器人模型数量的增加和操作环境多样性的提高，其扩展性较差。在本文中，我们提出了AnyTeleop，一个统一且通用的远程操作系统，支持在单个系统内使用多种不同的机械臂、手部、现实情境和摄像头配置。尽管旨在为仿真器和真实硬件的选择提供极大的灵活性，我们的系统仍能实现出色的性能。在真实世界的实验中，AnyTeleop可以在相同机器人的情况下，以更高的成功率胜过先前为特定机器人硬件设计的系统。在仿真中的远程操作中，与专门为该仿真器设计的先前系统相比，AnyTeleop可以实现更好的模仿学习性能。项目页面：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：一种基于视觉的通用灵巧机器人臂-手远程操作系统

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

摘要

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