CoBT: Collaborative Programming of Behaviour Trees from One Demonstration for Robot Manipulation

Paper link: arxiv.org/abs/2404.05870v1

Short videos: link

Presentation: link

This repo includes demonstration data, segmented state variables and graphs, and generated BTs for all the 7 tasks discussed in the paper. Furthermore, the responses from the conducted user study are here.

Note-

• The demonstration data (memory) is in .pkl file format. To read the file refer to this code.
• In the segmented variables table (here), red color text represents the effect conditions that are added to the BT, and blue color text represents the pre-conditions for the the next action.

Pilot-study details

The pilot study has been approved by the Research Ethics Committee of Technological University Dublin under application id REC-20-52b

1. General information about each participant was collected at the start. The information collected can be found here.
2. Introduction phase: Each participant was first demonstrated by the expert how to use free-drive mode (lead-through programming mode of the universal robots), gripper controls, and recorder start/stop controls, and then were given a chance to familiarize themselves with the system.
3. Pick-and-place Demonstration: First, an expert described and showed the pick-and-place task to the participant, and then the participant was allowed to record one demonstration. They were also allowed to re-try their demonstrations if dissatisfied.
4. Drawer Demonstration: Similarly, an expert first described and showed the opening of a drawer task to the participant and then the participant was allowed to record one demonstration. They were also allowed to re-try their demonstrations if dissatisfied.
5. Surveys: Finally, they were asked to fill the raw NASA-TLX and Systems Usability Scale (SUS) questionnaire, the responses for which could be found here

Pick-and-Place

Insert

Erasing

Drawer

Pouring

Kitting

Drawer Pick-and-Place