8 citations · 20 across the 10 of their papers we have counts for
10 papers
StackGen: Generating Stable Structures from Silhouettes via Diffusion
Luzhe Sun, Takuma Yoneda, Samuel W. Wheeler +2
Humans naturally obtain intuition about the interactions between and the stability of rigid objects by observing and interacting with the world. It is this intuition that governs t…
Generative Modeling Perspective for Control and Reasoning in Robotics
Takuma Yoneda
Heralded by the initial success in speech recognition and image classification, learning-based approaches with neural networks, commonly referred to as deep learning, have spread a…
6-DoF Stability Field via Diffusion Models
Takuma Yoneda, Tianchong Jiang, Gregory Shakhnarovich +1
A core capability for robot manipulation is reasoning over where and how to stably place objects in cluttered environments. Traditionally, robots have relied on object-specific, ha…
Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States
Zidan Wang, Takeru Oba, Takuma Yoneda +3
Learning from demonstrations (LfD) has successfully trained robots to exhibit remarkable generalization capabilities. However, many powerful imitation techniques do not prioritize…
Blending Imitation and Reinforcement Learning for Robust Policy Improvement
Xuefeng Liu, Takuma Yoneda, Rick L. Stevens +2
While reinforcement learning (RL) has shown promising performance, its sample complexity continues to be a substantial hurdle, restricting its broader application across a variety…
Statler: State-Maintaining Language Models for Embodied Reasoning
Takuma Yoneda, Jiading Fang, Peng Li +7
There has been a significant research interest in employing large language models to empower intelligent robots with complex reasoning. Existing work focuses on harnessing their ab…