Interface matters: comparing first and third-person perspective interfaces for bi-manual robot behavioural cloning
File(s)ICRA2025___Interface_Matters__Final_Submission_.pdf (2.87 MB)
Accepted version
Author(s)
Luo, Haining
Chacon Quesada, Rodrigo
Estevez Casado, Fernando
Lingg, Nico
Demiris, Yiannis
Type
Conference Paper
Abstract
Despite the growing interest in Behavioural Cloning for robots, few existing research has explicitly explored the impact of user interfaces on the effectiveness of expert demonstrations. We investigate the importance of user interface design in Behavioural Cloning, highlighting the critical role that interfaces play in conveying human demonstrations and robotics capabilities. This study compares the effectiveness of first and third-person perspective interfaces for robot shoe-lacing, a highly dexterous, bi-manual manipulation task that involves deformable objects and requires high precision. Our study highlights the importance of considering the impact of interface design on expert demonstration quality in Behavioural Cloning applications. By providing a first-person perspective, we observed significant differences in demonstration execution time and consistency compared to the third-person perspective. These findings suggest that the choice of interface can influence the quality of expert demonstrations, which in turn affects the performance of learning algorithms.
Date Issued
2025-09-02
Date Acceptance
2025-01-27
Citation
2025 IEEE International Conference on Robotics and Automation (ICRA), 2025
ISBN
979-8-3315-4139-2
Publisher
IEEE
Journal / Book Title
2025 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement
Copyright © 2025 IEEE. This is the author’s accepted manuscript made available under a CC-BY licence in accordance with Imperial’s Research Publications Open Access policy (www.imperial.ac.uk/oa-policy)
License URL
Source
2025 IEEE International Conference on Robotics and Automation (ICRA)
Subjects
Bimanual Manipulation
Learning from Demonstration
Telerobotics and Teleoperation
Publication Status
Published
Start Date
2025-05-19
Finish Date
2025-05-23
Coverage Spatial
Atlanta, USA
Date Publish Online
2025-09-02