System and methods for robotic teleoperation intention estimation

Abstract

A system and method for robotic teleoperation enable a teleoperated robotic element to perform a sequence of actions based on intention estimation, eliminating the need for continuous human control. The system includes a robotic teleoperation input that receives motion inputs and gaze data from a human operator performing a robotic teleoperation task. A robotic teleoperation feature extractor analyzes and processes the motion inputs and the gaze data into sequential input data. A multi-window model assigns hierarchical prediction windows to the input data, generating windowed sequential data. A hierarchical neural network processes the windowed sequential data to determine low-level action intentions and high-level task intentions, and generates an intention estimation based on the low-level action intentions and the high-level task intentions. A hierarchical dependency model incorporates hierarchical dependent loss to refine the intention estimation.