73 citations · 212 across the 46 of their papers we have counts for
3 papers · 1 filter
Energy-Regularized Imitation Learning for Force- and Work-Aware Robotic Manipulation
Toshiki Otani, Hiromu Taketsugu, Norimichi Ukita
This paper studies energy-aware manipulation as a physically grounded learning problem. We define a joint-space mechanical-work proxy from joint torque and angular displacement, an…
Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions
Tomoharu Aizu, Takeru Oba, Yuki Kondo +1
This paper proposes an image-based robot motion planning method using a one-step diffusion model. While the diffusion model allows for high-quality motion generation, its computati…
Multimodal Active Measurement for Human Mesh Recovery in Close Proximity
Takahiro Maeda, Keisuke Takeshita, Norimichi Ukita +1
For physical human-robot interactions (pHRI), a robot needs to estimate the accurate body pose of a target person. However, in these pHRI scenarios, the robot cannot fully observe…