Araya’s Senior Researcher Luca Nunziante Delivered a Presentation at the 2025 IEEE/SICE International Symposium on System Integrations (SII 2025)
From Tuesday, January 21 to Friday, January 24, 2025, the 2025 IEEE/SICE International Symposium on System Integrations (SII 2025) took place in Munich, Germany. During the event, the Reinforcement Learning Team (Team Lead: Kai Arulkumaran) from Araya’s Research and Development Department delivered a presentation in the “Human-Robot Interaction II” session. The presenter, Senior Researcher Luca Nunziante, discussed the following topic:
Title: Improving Low-Cost Teleoperation: Augmenting GELLO with Force
Date and Time: Thursday, January 23, 14:45–15:00
Abstract: In this work we extend the low-cost GELLO teleoperation system, initially designed for joint position control, with additional force information. Our first extension is to implement force feedback, allowing users to feel resistance when interacting with the environment. Our second extension is to add force information into the data collection process and training of imitation learning models. We validate our additions by implementing these on a GELLO system with a Franka Panda arm as the follower robot, performing a user study, and comparing the performance of policies trained with and without force information on a range of simulated and real dexterous manipulation tasks. Qualitatively, users with robotics experience preferred our controller, and the addition of force inputs improved task success on the majority of tasks.
In the future, the Reinforcement Learning team plans to further investigate the effect of force information in Imitation Learning. More details about the team’s research and achievements can be found here.
Related Links:
・2025 IEEE/SICE International Symposium on System Integrations (SII 2025) – Symposium Webstie
