Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: User-oriented Natural Human-Robot Control with Thin-Plate Splines and
  LRCN   We propose a real-time vision-based teleoperation approach for robotic arms
that employs a single depth-based camera, exempting the user from the need for
any wearable devices. By employing a natural user interface, this novel
approach leverages the conventional fine-tuning control, turning it into a
direct body pose capture process. The proposed approach is comprised of two
main parts. The first is a nonlinear customizable pose mapping based on
Thin-Plate Splines (TPS), to directly transfer human body motion to robotic arm
motion in a nonlinear fashion, thus allowing matching dissimilar bodies with
different workspace shapes and kinematic constraints. The second is a Deep
Neural Network hand-state classifier based on Long-term Recurrent Convolutional
Networks (LRCN) that exploits the temporal coherence of the acquired depth
data. We validate, evaluate and compare our approach through both classical
cross-validation experiments of the proposed hand state classifier; and user
studies over a set of practical experiments involving variants of
pick-and-place and manufacturing tasks. Results revealed that LRCN networks
outperform single image Convolutional Neural Networks; and that users' learning
curves were steep, thus allowing the successful completion of the proposed
tasks. When compared to a previous approach, the TPS approach revealed no
increase in task complexity and similar times of completion, while providing
more precise operation in regions closer to workspace boundaries.

23
The categories of this paper are: solv-int
7
The categories of this paper are: hep-th
2
The categories of this paper are: math
32
The categories of this paper are: atom-ph
3
The categories of this paper are: physics
5
The categories of this paper are: gr-qc
35
The categories of this paper are: mtrl-th
12
The categories of this paper are: nucl-th
17
The categories of this paper are: q-fin
22
The categories of this paper are: chao-dyn
10
The categories of this paper are: q-bio
25
The categories of this paper are: patt-sol
0
The categories of this paper are: hep-ph
16
The categories of this paper are: stat
26
The categories of this paper are: bayes-an
11
The categories of this paper are: hep-lat