Towards efficient autonomous training on telerobotic simulators

In this paper, we present Roman Tutor, an intelligent tutoring simulator to train astronauts on manipulating the SSRMS, an articulated robot arm deployed on the International Space Station. Roman Tutor incorporates a model of the system operations curriculum, a kinematic simulation of the robotics equipment and the ISS, a high performance path planner and an automatic task demonstration generator. For each element of the curriculum that the student is supposed to master, Roman Tutor generates example tasks for the student to accomplish within the simulation environment and monitors its progression to provide relevant feedback when needed. Although motivated by the SSRMS application, Roman Tutor remains applicable to any telerobotics system application.