加速精灵永久免费加速-快连加速器app
加速精灵永久免费加速-快连加速器app
Sim Robot Paper Get the Sim Robot Dataset
About the Real Robot Dataset
RoboTurk in the news See the blog
Imitation learning has allowed recent advances in learning robotic manipulation tasks but has been limited due to the scarcity of high quality demonstrations to learn from.
RoboTurk is a system that help solve this problem by enabling the rapid crowdsourcing of high-quality demonstrations. This allows the creation of large datasets for manipulation tasks that we show improves the quality of imitation learning policies.
We have recently extended the RoboTurk platform to work with real robots and presented this work at IROS 2024. Click the link above to learn more.
RoboTurk is a research project and dataset from the Stanford Vision Lab. The research paper and sample data are available publicly.
Use RoboTurk from anywhere. Even the top of a mountain.
RoboTurk in action.
RoboTurk is designed to be modular and enables quick imitation guided skill learning. All you need to do is:
Behind the scenes, every time a user connects to the RoboTurk platform
The "picking" task
The "assembly" task
RoboTurk in the real world
We designed and used two simulated environments made using MuJoCo: a "picking" task where users are asked to sort objects on one side into corresponding bins on the other, an "assembly" task where users are asked to put a "nut" on the correct peg. However, RoboTurk is not constrained to a specific simulator, environment, or even a simulator at all. All you need in order to gather data in the real world is a few robots.
Using RoboTurk, we were able to collect a dataset of demonstrations on the two tasks that we created. We used the same annotators over the course of the 4 day span it took to gather this dataset and the rate at which they produced successful demonstrations increased over time as they became more adept at using the system.
We tested RoboTurk using 4 different user interfaces (UIs). With allow different types of movement.
Based on task completion times, the VR and phone interfaces are comparable while the phone is significantly more widely accessible.
iphone怎么上国外网站.doc - 百度云网盘资源合集下载 - 云盘 ...:iphone怎么上国外网站.doc 文件大小：，浏览次数：0 次，由分享达人 于 未知 上传到百度网盘。此页面由蜘蛛程序自动抓取，众非人工方式自动生成，只作交流和学习使用。
We found that is possible to collect quality demonstrations using RoboTurk regardless of the distance between user and server.
The results we present use the full dataset of demonstrations that we gathered using RoboTurk. We learn policies using a combination of reinforcement learning and imitation learning guided by the data gathered by RoboTurk. Specifically, policies were learned using a distributed version of PPO (DPPO) from Surreal where the initial states for each episode are taken from along trajectories in the dataset. This helps overcome the exploration problem for difficult tasks.
An example learned policy on a simplified version of the "picking" task that we call "can picking".
中国阻止的热门网站和社交网络清单 - 2021国外VPN排行榜:2021-12-12 · 中国阻止的热门网站和社交网络清单 如果您在中国或即将到中国旅行，您很可能无法访问Google众及与之相关的所有其他服务。如果你认为这就足够了，那么等一下，因为它只会变得更糟。众下是在中国阻止的热门服务和网站清单： Facebook Instagram Netflix
This table represents policy performance on the task after 24 hours for the can picking task and 48 hours on the round assembly task. Note that the maximum possible return is 1000 which corresponds to instantaneous solving of the task. It is clear that using 1000 demonstrations for each task (nearly all of the RoboTurk dataset) performs the best on both tasks.
Ph.D. Student, EE
苹果怎么浏览国外的网站
Ph.D. Student, CS
yukez[at]stanford[dot]edu
Postdoctoral Researcher
roberto[dot]martinmartin[at]stanford[dot]edu
Postdoctoral Researcher
garg[at]cs.stanford[dot]edu
Undergraduate Student, CS
jaustinb[at]stanford[dot]edu
iphone怎么永久上外国网站
atung3[at]stanford[dot]edu
Undergraduate Student, CS
andrewk1[at]stanford[dot]edu
Masters Student, ME
ricks[at]stanford[dot]edu
国内ios如何使用youtube
silvio[at]cs.stanford[dot]edu
Professor, CS
feifeili[at]cs.stanford[dot]edu
Master's Student, CS
maxspero[at]stanford[dot]edu
国内ios如何使用youtube
atung3[at]stanford[dot]edu
Ph.D. Student, CS
jemmons[at]stanford[dot]edu
Master's Student, CS
anchitg[at]stanford[dot]edu
iphone怎么永久上外国网站
eorbay[at]stanford[dot]edu
Undergraduate Student, CS
bodun[at]stanford[dot]edu
Master's Student, ME
tieler[at]stanford[dot]edu
Master's Student, ME
qb1[at]stanford[dot]edu
iphone手机如何上外网
alexfu6[at]stanford[dot]edu
All a user needs to do is:
The video shows just how easy it is to interact with RoboTurk to generate a demonstration.
The data is available here
@inproceedings{mandlekar2018roboturk,
title={RoboTurk: A Crowdsourcing Platform for Robotic Skill Learning through Imitation},
author={Mandlekar, Ajay and Zhu, Yuke and Garg, Animesh and Booher, Jonathan and Spero, Max and Tung, Albert and Gao, Julian and Emmons, John and Gupta, Anchit and Orbay, Emre and Savarese, Silvio and Fei-Fei, Li},
booktitle={Conference on Robot Learning}, year={2018} }
