{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/159108"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/159108","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"First-Person Teleoperation of a Bimanual Robotic System","abstract":"First-person teleoperation of robots is a large field of research that could serve many benefits for automation. Teleoperation is a popular method to collect demonstrations for imitation learning that are easily learned by the robot, and thus it’s important to create teleoperation systems that are intuitive and enable human-like perception of a scene. Adding a first-person component to basic teleoperation systems is key to improving operators’ visual perception and making teleoperation possible for extended periods of time. Existing teleoperation systems do not integrate elements that provide the operator with a good perception of the task space, such as a first-person VR view and the ability to leverage the neck to search around the space. They rely on techniques such as third-person view of the space, or provide a first-person view but without the ability to move the neck to look around. This thesis proposes a VR-based teleoperation system with an actuated 5-DoF neck for enabling human-like perception and improving the ability to perform high quality demonstrations for use in imitation learning.","abstract_html":"First-person teleoperation of robots is a large field of research that could serve many benefits for automation. Teleoperation is a popular method to collect demonstrations for imitation learning that are easily learned by the robot, and thus it’s important to create teleoperation systems that are intuitive and enable human-like perception of a scene. Adding a first-person component to basic teleoperation systems is key to improving operators’ visual perception and making teleoperation possible for extended periods of time. Existing teleoperation systems do not integrate elements that provide the operator with a good perception of the task space, such as a first-person VR view and the ability to leverage the neck to search around the space. They rely on techniques such as third-person view of the space, or provide a first-person view but without the ability to move the neck to look around. This thesis proposes a VR-based teleoperation system with an actuated 5-DoF neck for enabling human-like perception and improving the ability to perform high quality demonstrations for use in imitation learning.","abstract_has_math":false,"creators":["Thakur, Nandini"],"institution":"Massachusetts Institute of Technology","degree_name":"Master","degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science","school":null,"contributors":[],"advisors":["Agrawal, Pulkit"],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-02","date_published":"2025-02","updated_at":"2026-07-22T22:22:10Z","subjects":[],"languages":[],"rights":["In Copyright - Educational Use Permitted","Copyright retained by author(s)"],"rights_urls":["https://rightsstatements.org/page/InC-EDU/1.0/"],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/1721.1/159108","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Agrawal, Pulkit"]},{"key":"dc:contributor.department","label":"Department","values":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science"]},{"key":"dc:creator","label":"Author","values":["Thakur, Nandini"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2025-04-14T14:06:04Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2025-04-14T14:06:04Z"]},{"key":"dc:date.issued","label":"Date","values":["2025-02"]},{"key":"dc:publisher","label":"Institution","values":["Massachusetts Institute of Technology"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master","Master of Engineering in Electrical Engineering and Computer Science"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright - Educational Use Permitted","Copyright retained by author(s)"]},{"key":"dc:rights.uri","label":"Rights URI","values":["https://rightsstatements.org/page/InC-EDU/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/1721.1/159108"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["First-person teleoperation of robots is a large field of research that could serve many benefits for automation. Teleoperation is a popular method to collect demonstrations for imitation learning that are easily learned by the robot, and thus it’s important to create teleoperation systems that are intuitive and enable human-like perception of a scene. Adding a first-person component to basic teleoperation systems is key to improving operators’ visual perception and making teleoperation possible for extended periods of time. Existing teleoperation systems do not integrate elements that provide the operator with a good perception of the task space, such as a first-person VR view and the ability to leverage the neck to search around the space. They rely on techniques such as third-person view of the space, or provide a first-person view but without the ability to move the neck to look around. This thesis proposes a VR-based teleoperation system with an actuated 5-DoF neck for enabling human-like perception and improving the ability to perform high quality demonstrations for use in imitation learning."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["M.Eng."]},{"key":"dc:title","label":"Title","values":["First-Person Teleoperation of a Bimanual Robotic System"]}]}],"canonical_facts":{"dc:contributor.advisor":["Agrawal, Pulkit"],"dc:contributor.department":["Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science"],"dc:creator":["Thakur, Nandini"],"dc:date.accessioned":["2025-04-14T14:06:04Z"],"dc:date.available":["2025-04-14T14:06:04Z"],"dc:date.issued":["2025-02"],"dc:description.abstract":["First-person teleoperation of robots is a large field of research that could serve many benefits for automation. Teleoperation is a popular method to collect demonstrations for imitation learning that are easily learned by the robot, and thus it’s important to create teleoperation systems that are intuitive and enable human-like perception of a scene. Adding a first-person component to basic teleoperation systems is key to improving operators’ visual perception and making teleoperation possible for extended periods of time. Existing teleoperation systems do not integrate elements that provide the operator with a good perception of the task space, such as a first-person VR view and the ability to leverage the neck to search around the space. They rely on techniques such as third-person view of the space, or provide a first-person view but without the ability to move the neck to look around. This thesis proposes a VR-based teleoperation system with an actuated 5-DoF neck for enabling human-like perception and improving the ability to perform high quality demonstrations for use in imitation learning."],"dc:description.degree":["M.Eng."],"dc:identifier.uri":["https://hdl.handle.net/1721.1/159108"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["In Copyright - Educational Use Permitted","Copyright retained by author(s)"],"dc:rights.uri":["https://rightsstatements.org/page/InC-EDU/1.0/"],"dc:title":["First-Person Teleoperation of a Bimanual Robotic System"],"dc:type":["Thesis"],"thesis:degree_name":["Master","Master of Engineering in Electrical Engineering and Computer Science"]},"updated_at":"2026-07-22T22:22:10Z"}