<ul><li>HACTS (Human-As-Copilot Teleoperation System) is a novel system that enables bilateral, real-time joint synchronization between a robot arm and teleoperation hardware.</li><li>The system allows the human copilot to intervene seamlessly while collecting action-correction data for future learning.</li><li>HACTS is implemented using 3D-printed components and low-cost, off-the-shelf motors, making it accessible and scalable.</li><li>The experiments show that HACTS significantly enhances performance in imitation learning (IL) and reinforcement learning (RL) tasks, boosting IL recovery capabilities and data efficiency, and facilitating human-in-the-loop RL.</li></ul>

HACTS: a Human-As-Copilot Teleoperation System for Robot Learning

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