Robot Learning and Execution of Collaborative Manipulation Plans from YouTube Videos
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People often watch videos on the web to learn how to cook new recipes, assemble furniture or repair a computer. We wish to enable robots with the very same capability. This is challenging; there is a large variation in manipulation actions and some videos even involve multiple persons, who collaborate by sharing and exchanging objects and tools. Furthermore, the learned representations need to be general enough to be transferable to robotic systems. Previous systems have enabled generation of semantic and human-interpretable robot commands in the form of visual sentences. However, they require manual selection of short action clips, which are then individually processed. We propose a framework for executing demonstrated action sequences from full-length, unconstrained videos on the web. The framework takes as input a video annotated with object labels and bounding boxes, and outputs a collaborative manipulation action plan for one or more robotic arms. We demonstrate the performance of the system in three full-length collaborative cooking videos on the web and propose an open-source platform for executing the learned plans in a simulation environment.
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