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Achieving successful robotic manipulation is an essential step towards robotsbeing widely used in industry and home settings. Recently, many learning-basedmethods have been proposed to tackle this challenge, with imitation learningshowing great promise. However, imperfect demonstrations and a lack of feedbackfrom teleoperation systems may lead to poor or even unsafe results. In thiswork we explore the effect of demonstrator force feedback on imitationlearning, using a feedback glove and a robot arm to render fingertip-level andpalm-level forces, respectively. 10 participants recorded 5 demonstrations of apick-and-place task with 3 grippers, under conditions with no force feedback,fingertip force feedback, and fingertip and palm force feedback. Results showthat force feedback significantly reduces demonstrator fingertip and palmforces, leads to a lower variation in demonstrator forces, and recordedtrajectories that a quicker to execute. Using behavioral cloning, we find thatagents trained to imitate these trajectories mirror these benefits, even thoughagents have no force data shown to them during training. We conclude thatimmersive demonstrations, achieved with force feedback, may be the key tounlocking safer, quicker to execute dexterous manipulation policies.

Immersive Demonstrations are the Key to Imitation Learning