38 citations · 49 across the 7 of their papers we have counts for
4 papers · 1 filter
Hardware-as-Regularization: Enhancing Data Consistency in Imitation Learning via an Adjustable Passive Compliant Leader Arm
Hideyuki Ichiwara, Yushi Kaida, Hirokazu Ishida
Low-cost passive leader arms enable scalable data collection for imitation learning, but their lack of restoring forces leaves redundant joints unconstrained, yielding highly incon…
TLC-DiT: Task-Aligned Local Visual Conditioning for Robust Multitask Robot Manipulation
Xianbo Cai, Hideyuki Ichiwara, Zihang Wang +2
Language-conditioned robot policies have made clear progress in multitask manipulation, but task-relevant local visual evidence usually stays hidden inside a visual backbone or att…
MSACT: Multistage Spatial Alignment for Stable Low-Latency Fine Manipulation
Xianbo Cai, Hideyuki Ichiwara, Masaki Yoshikawa +1
Real-world fine manipulation, particularly in bimanual manipulation, typically requires low-latency control and stable visual localization, while collecting large-scale data is cos…
Stereo Multistage Spatial Attention for Real-Time Mobile Manipulation Under Visual Scale Variation and Disturbances
Xianbo Cai, Hideyuki Ichiwara, Hyogo Hiruma +3
Robots operating in open, unstructured real-world environments must rely on onboard visual perception while autonomously moving across different locations. Continuous changes in on…