Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Characterizing Input Methods for Human-to-robot Demonstrations   Human demonstrations are important in a range of robotics applications, and
are created with a variety of input methods. However, the design space for
these input methods has not been extensively studied. In this paper, focusing
on demonstrations of hand-scale object manipulation tasks to robot arms with
two-finger grippers, we identify distinct usage paradigms in robotics that
utilize human-to-robot demonstrations, extract abstract features that form a
design space for input methods, and characterize existing input methods as well
as a novel input method that we introduce, the instrumented tongs. We detail
the design specifications for our method and present a user study that compares
it against three common input methods: free-hand manipulation, kinesthetic
guidance, and teleoperation. Study results show that instrumented tongs provide
high quality demonstrations and a positive experience for the demonstrator
while offering good correspondence to the target robot.

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The categories of this paper are: q-alg
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The categories of this paper are: stat
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The categories of this paper are: eess
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The categories of this paper are: adap-org
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The categories of this paper are: cmp-lg
4
The categories of this paper are: cond-mat
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The categories of this paper are: chem-ph
3
The categories of this paper are: physics
26
The categories of this paper are: bayes-an
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The categories of this paper are: q-fin
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The categories of this paper are: nucl-ex
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The categories of this paper are: patt-sol
10
The categories of this paper are: q-bio
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The categories of this paper are: hep-ex
20
The categories of this paper are: acc-phys
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The categories of this paper are: gr-qc