让机器人通过身体接触学习复杂操作，实现穿戴式演示与执行一体化。
TWINS: A Tactile Wearable Isomorphic Arm Networked System for Contact-Rich Manipulation Learning
- 穿戴式双臂设备配合同构机器人，同步采集身体接触与关节运动数据。
- 在4个接触密集任务中成功训练模仿学习策略并部署于机器人。
- 适合需要肢体接触的工业或康复场景，为具身智能提供新范式。
机器人操控学习近年来对真实世界示范数据的需求日益增加。然而，现有系统主要关注末端执行器操作，难以教授和执行涉及手臂与躯干接触的操纵任务。本文提出TWINS（Tactile Wearable Isomorphic Arm Networked System），一种支持身体表面接触操纵的机器人系统。TWINS由穿戴式双臂装置与具有相同关节配置和外部尺寸的同构机器人组成。分布式触觉传感器嵌入胸腹部和手臂，可同步测量身体接触与关节运动。通过穿戴设备收集了4个涉及身体接触的操纵任务示范数据，利用这些数据训练模仿学习策略，并部署至同构机器人，实现了基于身体表面触觉感知的操控。实验表明，TWINS提供了一个统一的系统，用于接触密集型操纵任务的示范、学习与执行。
原文摘要 · Abstract (English)
Recent advances in robot learning for manipulation have increased the importance of collecting real-world demonstration data. However, existing robotic systems primarily focus on end-effector manipulation, making it difficult to teach and execute manipulation tasks involving body-surface contact with the arms and chest. This paper presents TWINS (Tactile Wearable Isomorphic Arm Networked System), a robotic system for manipulation involving body-surface contact. TWINS consists of a Wearable Dual-Arm Device, which is worn by the operator, and an Isomorphic Robot with the same joint configuration and external dimensions. Distributed tactile sensors embedded in the chest and arms enable the measurement of body-surface contact synchronized with joint motion. Using the Wearable Dual-Arm Device, we collected demonstrations for four manipulation tasks involving body-surface contact. We then trained imitation learning policies using the collected demonstrations and deployed them on the Isomorphic Robot, enabling manipulation guided by body-surface tactile observations. Experimental results demonstrate that TWINS provides a unified robotic system for demonstration, learning, and execution of manipulation involving body-surface contact. https://mmurooka.github.io/twins-project-page/
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