103 citations · 228 across the 24 of their papers we have counts for
6 papers · 1 filter
AIRoA MoMa Dataset: A Large-Scale Hierarchical Dataset for Mobile Manipulation
Ryosuke Takanami, Petr Khrapchenkov, Shu Morikuni +32
As robots transition from controlled settings to unstructured human environments, building generalist agents that can reliably follow natural language instructions remains a centra…
Leave No Observation Behind: Real-time Correction for VLA Action Chunks
Kohei Sendai, Maxime Alvarez, Tatsuya Matsushima +2
To improve efficiency and temporal coherence, Vision-Language-Action (VLA) models often predict action chunks; however, this action chunking harms reactivity under inference delay…
Retrieve-Augmented Generation for Speeding up Diffusion Policy without Additional Training
Sodtavilan Odonchimed, Tatsuya Matsushima, Simon Holk +2
Diffusion Policies (DPs) have attracted attention for their ability to achieve significant accuracy improvements in various imitation learning tasks. However, DPs depend on Diffusi…
SPARK: Graph-Based Online Semantic Integration System for Robot Task Planning
Mimo Shirasaka, Yuya Ikeda, Tatsuya Matsushima +2
The ability to update information acquired through various means online during task execution is crucial for a general-purpose service robot. This information includes geometric an…
A Comprehensive Survey on Physical Risk Control in the Era of Foundation Model-enabled Robotics
Takeshi Kojima, Yaonan Zhu, Yusuke Iwasawa +8
Recent Foundation Model-enabled robotics (FMRs) display greatly improved general-purpose skills, enabling more adaptable automation than conventional robotics. Their ability to han…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…