TidyBot++：一款用于机器人学习的开源全向移动机械臂

摘要

利用最新进展在模仿学习领域的潜力，为移动操作提供大量人类引导的示范将是必要的。本文提出了一种开源设计，用于廉价、稳健和灵活的移动操作器，可以支持任意机械臂，从而实现各种真实世界家庭移动操作任务。关键是，我们的设计采用了动力脚轮，使移动底座完全全向，能够独立和同时控制所有平面自由度。这一特性使底座更具机动性，简化了许多移动操作任务，消除了非全向底座中产生复杂和耗时动作的运动学约束。我们为机器人配备了直观的手机远程操作界面，以便轻松获取用于模仿学习的数据。在我们的实验中，我们使用该界面收集数据，并展示所学习到的策略可以成功执行各种常见家庭移动操作任务。

English

Exploiting the promise of recent advances in imitation learning for mobile manipulation will require the collection of large numbers of human-guided demonstrations. This paper proposes an open-source design for an inexpensive, robust, and flexible mobile manipulator that can support arbitrary arms, enabling a wide range of real-world household mobile manipulation tasks. Crucially, our design uses powered casters to enable the mobile base to be fully holonomic, able to control all planar degrees of freedom independently and simultaneously. This feature makes the base more maneuverable and simplifies many mobile manipulation tasks, eliminating the kinematic constraints that create complex and time-consuming motions in nonholonomic bases. We equip our robot with an intuitive mobile phone teleoperation interface to enable easy data acquisition for imitation learning. In our experiments, we use this interface to collect data and show that the resulting learned policies can successfully perform a variety of common household mobile manipulation tasks.

TidyBot++：一款用于机器人学习的开源全向移动机械臂

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

摘要

Summary

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