Understanding Task Decomposition of Keyframe Demonstrations

摘要: We conducted a user study where participants taught a robot to perform four manipulation tasks, and segmented the task. Hardware Setup: We used the robot shown in Figure 1. The robot has a Kinova Jaco2 7 degree-of-freedom (DOF) arm with a Robotiq gripper. It has a Kinect2 mounted on a pan-tilt unit that captures the ergocentric view of the scene. We also recorded interactions with the robot separately with