Vision-Based Dexterous Motion Planning by Dynamic Movement Primitives with Human Hand Demonstration
Bibliographic record
Abstract
This paper proposes a vision-based framework for a 7 -degree-of-freedom robotic manipulator, with the primary objective of facilitating its capacity to acquire information from human hand demonstrations for the execution of dexterous pick-and-place tasks. Most existing works only focus on the position demonstration without considering the orientations. In this paper, by employing a single depth camera, MediaPipe is applied to generate the three-dimensional real-world coordinates of a human hand, thereby comprehensively recording the hand’s motion, encompassing the trajectory of the wrist, orientation of the hand, and grasp motion. A mean filter is applied during data pre-processing to smooth the raw data. The demonstration is designed to pick up an object at a specific angle, navigate around obstacles in its path, and subsequently, deposit it within a sloped container. The robotic system demonstrates its learning capabilities, facilitated by the implementation of dynamic movement primitives, enabling the assimilation of user actions into its trajectories with different start and end points. Experimental studies are carried out to demonstrate the effectiveness of the work.
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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 | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
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".