Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity
| Autor: | Anchit Gupta, Jonathan Booher, Animesh Garg, Max Spero, Yuke Zhu, Li Fei-Fei, Silvio Savarese, Ajay Mandlekar, Albert Tung |
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| Rok vydání: | 2019 |
| Předmět: |
FOS: Computer and information sciences
Computer Science - Machine Learning 0209 industrial biotechnology Data collection Computer science Computer Science - Human-Computer Interaction 02 engineering and technology Human-Computer Interaction (cs.HC) Machine Learning (cs.LG) Set (abstract data type) Computer Science - Robotics Task (computing) 020901 industrial engineering & automation Human–computer interaction Data quality 0202 electrical engineering electronic engineering information engineering Robot Leverage (statistics) 020201 artificial intelligence & image processing Robotics (cs.RO) |
| Zdroj: | IROS |
| DOI: | 10.1109/iros40897.2019.8968114 |
| Popis: | Large, richly annotated datasets have accelerated progress in fields such as computer vision and natural language processing, but replicating these successes in robotics has been challenging. While prior data collection methodologies such as self-supervision have resulted in large datasets, the data can have poor signal-to-noise ratio. By contrast, previous efforts to collect task demonstrations with humans provide better quality data, but they cannot reach the same data magnitude. Furthermore, neither approach places guarantees on the diversity of the data collected, in terms of solution strategies. In this work, we leverage and extend the RoboTurk platform to scale up data collection for robotic manipulation using remote teleoperation. The primary motivation for our platform is two-fold: (1) to address the shortcomings of prior work and increase the total quantity of manipulation data collected through human supervision by an order of magnitude without sacrificing the quality of the data and (2) to collect data on challenging manipulation tasks across several operators and observe a diverse set of emergent behaviors and solutions. We collected over 111 hours of robot manipulation data across 54 users and 3 challenging manipulation tasks in 1 week, resulting in the largest robot dataset collected via remote teleoperation. We evaluate the quality of our platform, the diversity of demonstrations in our dataset, and the utility of our dataset via quantitative and qualitative analysis. For additional results, supplementary videos, and to download our dataset, visit http://roboturk.stanford.edu/realrobotdataset . Published at IROS 2019 |
| Databáze: | OpenAIRE |
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