Real-Time Operator Takeover for Visuomotor Diffusion Policy Training
arXiv:2502.02308v3 Announce Type: replace Abstract: We present a Real-Time Operator Takeover (RTOT) paradigm that enables operators to seamlessly take control of a live visuomotor diffusion policy, guiding the system back to desirable states or providing targeted corrective demonstrations. Within this framework, the operator can intervene to correct the robot's motion, after which control is smoothly returned to the policy until further intervention is needed. We evaluate the takeover framework on three tasks spanning rigid, deformable, and granular objects, and show that incorporating targeted takeover demonstrations significantly improves policy performance compared with training on an equivalent number of initial demonstrations alone. Additionally, we provide an in-depth analysis of the
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Abstract:We present a Real-Time Operator Takeover (RTOT) paradigm that enables operators to seamlessly take control of a live visuomotor diffusion policy, guiding the system back to desirable states or providing targeted corrective demonstrations. Within this framework, the operator can intervene to correct the robot's motion, after which control is smoothly returned to the policy until further intervention is needed. We evaluate the takeover framework on three tasks spanning rigid, deformable, and granular objects, and show that incorporating targeted takeover demonstrations significantly improves policy performance compared with training on an equivalent number of initial demonstrations alone. Additionally, we provide an in-depth analysis of the Mahalanobis distance as a signal for automatically identifying undesirable or out-of-distribution states during execution. Supporting materials, including videos of the initial and takeover demonstrations and all experiments, are available on the project website: this https URL
Subjects:
Robotics (cs.RO); Machine Learning (cs.LG)
Cite as: arXiv:2502.02308 [cs.RO]
(or arXiv:2502.02308v3 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2502.02308
arXiv-issued DOI via DataCite
Submission history
From: Marco Moletta [view email] [v1] Tue, 4 Feb 2025 13:24:28 UTC (1,775 KB) [v2] Thu, 13 Feb 2025 09:38:00 UTC (1,775 KB) [v3] Tue, 31 Mar 2026 13:27:02 UTC (2,127 KB)
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