View Proposal

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Proposer

Ioannis Konstas

Title

Instruction-based low-cost robotic arm manipulation

Goal

Manipulate either remotely or autonomously a 6 DoF 3D-printed low-cost robotic arm

Description

Would you fancy playing with a 3D-printed low-cost robotic 6 DoF follower arm? We have built a small follower robotic arm with a simple actuator and its leader counterpart that can be used to teleoperate and/or train the leader to perform manipulation tasks [1]. Each control radius and payload weight are quite small, but its fairly low cost means that you can experiment quite a bit :) The topic is left quite open-ended as we are open to suggestions for topics ranging from more straightforward teleoperation-based "pick and place" tasks trained using models such as ACT [2], or π0 [5], based on modern Python frameworks such as lerobot by Huggingface [3], to more complicated instruction following using Gemini + π0 [6]. Finally, if you are up for it, you can also experiment with training with its simulated digital twin, first existing in MuJoCo [4] and then deploying it to the real robot. [1] https://github.com/AlexanderKoch-Koch/low_cost_robot [2] https://tonyzhaozh.github.io/aloha/ [3] https://github.com/huggingface/lerobot [4] https://mujoco.org/ [5] https://www.physicalintelligence.company/blog/pi0 [6] https://x.com/shreyasgite/status/1923008943938244698?s=46

Resources

Background

Url

Difficulty Level

Moderate

Ethical Approval

Full

Number Of Students

4

Supervisor

Ioannis Konstas

Keywords

robotic arm, machine learning, robotics

Degrees

Bachelor of Science in Computer Science
Master of Engineering in Software Engineering
Master of Science in Artificial Intelligence
Master of Science in Artificial Intelligence with SMI
Master of Science in Computing (2 Years)
Master of Science in Human Robot Interaction
Master of Science in Robotics
Bachelor of Engineering in Robotics
Master of Science in Robotics with Industrial Application
BSc Data Sciences