In this paper, we study the problem of manipulation skill acquisition for performing construction activities consisting of repetitive tasks (e.g., building a wall or installing ceiling tiles). Our approach involves setting up a simulated construction activity in a Virtual Reality (VR) environment, where the user can provide demonstrations of the object manipulation skills needed to perform the construction activity. We then exploit the screw geometry of motion to approximate the demonstrated motion as a sequence of constant screw motions. For performing the construction activity, we generate the sequence of manipulation task instances and then compute the joint space motion plan corresponding to each instance using Screw Linear Interpolation (ScLERP) and Resolved Motion Rate Control (RMRC). We evaluate our framework by executing two representative construction tasks: constructing brick walls and installing multiple ceiling tiles. Each task is performed using only a single demonstration, a pick-and-place action for the bricks, and a single ceiling tile installation. Our experiments with a 7-DoF robot in both simulation and hardware demonstrate that the approach generalizes robustly to arbitrarily long construction activities that involve repetitive motions and demand precision, even when provided with just one demonstration. For instance, we can construct walls of arbitrary layout and length by leveraging a single demonstration of placing one brick on top of another.

翻译：本文研究了针对由重复任务（例如砌墙或安装天花板瓷砖）组成的施工活动执行操作技能习得的问题。我们的方法涉及在虚拟现实环境中搭建模拟施工活动，用户可以在其中演示执行施工活动所需的物体操作技能。随后，我们利用运动的螺旋几何特性，将演示的运动近似为一系列恒定螺旋运动。为了执行施工活动，我们生成操作任务实例序列，并利用螺旋线性插值和分解运动速率控制计算每个实例对应的关节空间运动规划。我们通过执行两个典型的施工任务来评估框架：砌砖墙和安装多块天花板瓷砖。每个任务仅通过一次演示完成，砖块采用抓取-放置动作，天花板瓷砖采用单块安装演示。我们在仿真环境和硬件平台上使用7自由度机器人进行的实验表明，即使仅提供一次演示，该方法也能鲁棒地泛化到任意长度、涉及重复运动且要求精度的施工活动中。例如，通过演示一块砖放置在另一块砖上的动作，即可构建任意布局和长度的墙体。