10 citations · 21 across the 9 of their papers we have counts for
9 papers
SCU-Hand with Integrated Single-Sheet Valve: A Funnel-Shaped Robotic Hand for Milligram-Scale Powder Handling
Tomoya Takahashi, Yusaku Nakajima, Cristian Camilo Beltran-Hernandez +5
Laboratory Automation (LA) has the potential to accelerate solid-state materials discovery by enabling continuous robotic operation without human intervention. While robotic system…
Pose Estimation of a Cable-Driven Serpentine Manipulator Utilizing Intrinsic Dynamics via Physical Reservoir Computing
Kazutoshi Tanaka, Tomoya Takahashi, Masashi Hamaya
Cable-driven serpentine manipulators hold great potential in unstructured environments, offering obstacle avoidance, multi-directional force application, and a lightweight design.…
Visuo-Tactile Zero-Shot Object Recognition with Vision-Language Model
Shiori Ueda, Atsushi Hashimoto, Masashi Hamaya +2
Tactile perception is vital, especially when distinguishing visually similar objects. We propose an approach to incorporate tactile data into a Vision-Language Model (VLM) for visu…
An Electromagnetism-Inspired Method for Estimating In-Grasp Torque from Visuotactile Sensors
Yuni Fuchioka, Masashi Hamaya
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that g…
Symmetry-aware Reinforcement Learning for Robotic Assembly under Partial Observability with a Soft Wrist
Hai Nguyen, Tadashi Kozuno, Cristian C. Beltran-Hernandez +1
This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequenc…
Vision-Language Interpreter for Robot Task Planning
Keisuke Shirai, Cristian C. Beltran-Hernandez, Masashi Hamaya +6
Large language models (LLMs) are accelerating the development of language-guided robot planners. Meanwhile, symbolic planners offer the advantage of interpretability. This paper pr…
Elastic Decision Transformer
Yueh-Hua Wu, Xiaolong Wang, Masashi Hamaya
This paper introduces Elastic Decision Transformer (EDT), a significant advancement over the existing Decision Transformer (DT) and its variants. Although DT purports to generate a…
An analytical diabolo model for robotic learning and control
Felix von Drigalski, Devwrat Joshi, Takayuki Murooka +3
In this paper, we present a diabolo model that can be used for training agents in simulation to play diabolo, as well as running it on a real dual robot arm system. We first derive…
MULTIPOLAR: Multi-Source Policy Aggregation for Transfer Reinforcement Learning between Diverse Environmental Dynamics
Mohammadamin Barekatain, Ryo Yonetani, Masashi Hamaya
Transfer reinforcement learning (RL) aims at improving the learning efficiency of an agent by exploiting knowledge from other source agents trained on relevant tasks. However, it r…