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However, this design requires the coordination of multiple operators or may exhaust a single operator as s\/he needs to control both the manipulator arm and the external sensors. To address this challenge, our work introduces a viewpoint prediction model, the first data-driven approach that autonomously adjusts the viewpoint of a dynamic camera to assist in telemanipulation tasks. This model is parameterized by a deep neural network and trained on a set of human demonstrations. We propose a contrastive learning scheme that leverages viewpoints in a camera trajectory as contrastive data for network training. We demonstrated the effectiveness of the proposed viewpoint prediction model by integrating it into a real-world robotic system for telemanipulation. User studies reveal that our model outperforms several camera control methods in terms of control experience and reduces the perceived task load compared to manual camera control. As an assistive module of a telemanipulation system, our method significantly reduces task completion time for users who choose to adopt its recommendation.<\/jats:p>","DOI":"10.1145\/3660348","type":"journal-article","created":{"date-parts":[[2024,4,24]],"date-time":"2024-04-24T14:13:29Z","timestamp":1713968009000},"page":"1-23","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["Learning Autonomous Viewpoint Adjustment from Human Demonstrations for Telemanipulation"],"prefix":"10.1145","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6655-7192","authenticated-orcid":false,"given":"Ruixing","family":"Jia","sequence":"first","affiliation":[{"name":"The University of Hong Kong, Pokfulam, Hong Kong SAR, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3284-4019","authenticated-orcid":false,"given":"Lei","family":"Yang","sequence":"additional","affiliation":[{"name":"TransGP and The University of Hong Kong, Pokfulam, Hong Kong SAR, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9288-3167","authenticated-orcid":false,"given":"Ying","family":"Cao","sequence":"additional","affiliation":[{"name":"ShanghaiTech University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9819-8865","authenticated-orcid":false,"given":"Calvin","family":"Kalun Or","sequence":"additional","affiliation":[{"name":"The University of Hong Kong, Pokfulam, Hong Kong SAR, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2284-3952","authenticated-orcid":false,"given":"Wenping","family":"Wang","sequence":"additional","affiliation":[{"name":"Texas A&amp;M University, College Station, TX, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9003-2054","authenticated-orcid":false,"given":"Jia","family":"Pan","sequence":"additional","affiliation":[{"name":"The University of Hong Kong, Pokfulam, Hong Kong SAR, China"}]}],"member":"320","published-online":{"date-parts":[[2024,9,26]]},"reference":[{"key":"e_1_3_2_2_2","unstructured":"Universal Robots A\/S. 2023. 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