3 papers
cs.RO2025
Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation
Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi
Long-horizon dexterous robot manipulation of deformable objects, such as banana peeling, is a problematic task because of the difficulties in object modeling and a lack of knowledg…
cs.RO2025
Transformer-based deep imitation learning for dual-arm robot manipulation
Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi
Deep imitation learning is promising for solving dexterous manipulation tasks because it does not require an environment model and pre-programmed robot behavior. However, its appli…
cs.RO2025
Gaze-based dual resolution deep imitation learning for high-precision dexterous robot manipulation
Heecheol Kim, Yoshiyuki Ohmura, Yasuo Kuniyoshi
A high-precision manipulation task, such as needle threading, is challenging. Physiological studies have proposed connecting low-resolution peripheral vision and fast movement to t…