Sketch-MoMa: Sketch-based teleoperation of mobile robots
What happened
Kosei Tanada and other authors propose Sketch-MoMa, a teleoperation system for mobile manipulation robots that uses user-drawn sketches as commands. Users overlay sketches on observed images, and the system uses a vision-language model (VLM) to understand the sketches and infer the underlying task of the robot from the drawn shapes. The authors state that they validated the method using state-of-the-art VLMs across 7 tasks and 5 sketch shapes; and through human-robot experiments with 14 participants, they showed its usability is comparable to existing 2D interfaces. These are all claims made by the authors in the paper.
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- arXiv cs.ROSketch-MoMa: Mobile manipulator teleoperation via hand-drawn sketch interpretation
Sketch-MoMa proposes a teleoperation scheme for mobile manipulators that uses user hand-drawn sketches as instructions, employing a vision-language model (VLM) to understand sketches overlaid on observation images and infer the drawn shapes and the robot's low-level tasks.
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