Papers › Characterizing Input Methods for Human-to-robot Demonstrations
Characterizing Input Methods for Human-to-robot Demonstrations
Pragathi Praveena, Guru Subramani, Bilge Mutlu, Michael Gleicher
The archive published only this paper's code-link row. Authors, date and abstract are from arXiv's metadata (CC0), read from the Kaggle arXiv metadata snapshot of 2026-09-12 where its title matched the archive's; the title is the archive's.
Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on demonstrations of hand-scale object manipulation tasks to robot arms with two-finger grippers, we identify distinct usage paradigms in robotics that utilize human-to-robot demonstrations, extract abstract features that form a design space for input methods, and characterize existing input methods as well as a novel input method that we introduce, the instrumented tongs. We detail the design specifications for our method and present a user study that compares it against three common input methods: free-hand manipulation, kinesthetic guidance, and teleoperation. Study results show that instrumented tongs provide high quality demonstrations and a positive experience for the demonstrator while offering good correspondence to the target robot.
Code
Repository list and official/mentioned flags are the archive's, frozen 2025-07-28. Reachability, where shown, is from one Syntology probe window (2026-09-16 to 2026-09-18); repositories not probed show nothing. GitHub stars are not tracked.
Code Syntology ran Syntology
Not run by Syntology. Nothing on this page verifies that the listed code works.
Results from the paper archive 2025-07-28
No leaderboard rows for this paper in the archive.
Report a problem or propose a change · a person checks every report against the paper or source before anything changes; decisions are listed on /corrections