Recognizing Orientation Slip in Human Demonstrations

TL;DR

This paper introduces a novel hierarchical model to detect and analyze orientation slip in human demonstrations of constrained object manipulation, revealing slip's natural occurrence and enabling better constraint understanding.

Contribution

The paper presents a new method to model and recognize orientation slip in human demonstrations, incorporating physics-based evidence for improved detection accuracy.

Findings

Orientation slip occurs naturally in human demonstrations.

The method successfully detects constraint types and parameters.

Study with eight participants confirms the method's effectiveness.

Abstract

Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in natural human demonstrations, yet it is generally overlooked in methods to identify constraints from such demonstrations. In this paper, we present a method to model and recognize prehensile orientation slip in human demonstrations of constrained interactions. Using only observations of an end effector, we can detect the type of constraint, parameters of the constraint, and orientation slip properties. Our method uses a novel hierarchical model selection method that is informed by multiple origins of physics-based evidence. A study with eight participants shows that orientation slip occurs in natural demonstrations and confirms that it can be detected by our method.