4 papers
Mobile Manipulation Instruction Generation from Multiple Images with Automatic Metric Enhancement
Kei Katsumata, Motonari Kambara, Daichi Yashima +2
We consider the problem of generating free-form mobile manipulation instructions based on a target object image and receptacle image. Conventional image captioning models are not a…
Future Success Prediction in Open-Vocabulary Object Manipulation Tasks Based on End-Effector Trajectories
Motonari Kambara, Komei Sugiura
This study addresses a task designed to predict the future success or failure of open-vocabulary object manipulation. In this task, the model is required to make predictions based…
Task Success Prediction for Open-Vocabulary Manipulation Based on Multi-Level Aligned Representations
Miyu Goko, Motonari Kambara, Daichi Saito +2
In this study, we consider the problem of predicting task success for open-vocabulary manipulation by a manipulator, based on instruction sentences and egocentric images before and…
Case Relation Transformer: A Crossmodal Language Generation Model for Fetching Instructions
Motonari Kambara, Komei Sugiura
There have been many studies in robotics to improve the communication skills of domestic service robots. Most studies, however, have not fully benefited from recent advances in dee…