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cs.RO2021
Learning to Arbitrate Human and Robot Control using Disagreement between Sub-Policies
Yoojin Oh, Marc Toussaint, Jim Mainprice
In the context of teleoperation, arbitration refers to deciding how to blend between human and autonomous robot commands. We present a reinforcement learning solution that learns a…
cs.RO2021
A System for Traded Control Teleoperation of Manipulation Tasks using Intent Prediction from Hand Gestures
Yoojin Oh, Marc Toussaint, Jim Mainprice
This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robo…