PATO: Policy Assisted TeleOperation for Scalable Robot Data Collection
Bibliographic record
Abstract
Large-scale data is an essential component of machine learning as demonstrated in recent advances in natural language processing and computer vision research.However, collecting large-scale robotic data is much more expensive and slower as each operator can control only a single robot at a time.To make this costly data collection process efficient and scalable, we propose Policy Assisted TeleOperation (PATO), a system which automates part of the demonstration collection process using a learned assistive policy.PATO autonomously executes repetitive behaviors in data collection and asks for human input only when it is uncertain about which subtask or behavior to execute.We conduct teleoperation user studies both with a real robot and a simulated robot fleet and demonstrate that our assisted teleoperation system reduces human operators' mental load while improving data collection efficiency.Further, it enables a single operator to control multiple robots in parallel, which is a first step towards scalable robotic data collection.For code and video results, see clvrai.com/pato.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.003 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.002 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.004 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".