Remote Robotic Laboratories for Learning from Demonstration: Enabling user interaction and shared experimentation

  • Osentoski S
  • Pitzer B
  • Crick C
 et al. 
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Abstract

This paper documents the technology developed during the creation of the PR2 Remote Lab and the pro- cess of using it for shared development for Learning from Demonstration. Remote labs enable a larger and more di- verse group of researchers to participate directly in state-of- the-art robotics research and will improve the reproducibil- ity and comparability of robotics experiments. We present solutions to interface, control, and design difficulties in the client and server-side software when implementing a remote laboratory architecture.We describe howresearchers can in- teract with the PR2 and its environment remotely through a web interface, as well as develop similar interfaces to visu- alize and run experiments remotely.Teams from three institutions used the remote lab as their primary development and testing platform. This paper re- views the process as well as providing observations and lessons learned. Additionally, we describe how the remote lab technol- ogywas used by researchers participating in the Robot Learn- ing from Demonstration Challenge (LfD) held in conjunc- tion with the AAAI-11 Conference on Artificial Intelligence.

Author-supplied keywords

  • Remote laboratories
  • Robot interfaces
  • Robot learning from demonstration

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Authors

  • Sarah Osentoski

  • Benjamin Pitzer

  • Christopher Crick

  • Graylin Jay

  • Shuonan Dong

  • Daniel Grollman

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