5 papers
APriCoT: Action Primitives based on Contact-state Transition for In-Hand Tool Manipulation
Daichi Saito, Atsushi Kanehira, Kazuhiro Sasabuchi +4
In-hand tool manipulation is an operation that not only manipulates a tool within the hand (i.e., in-hand manipulation) but also achieves a grasp suitable for a task after the mani…
Designing Library of Skill-Agents for Hardware-Level Reusability
Jun Takamatsu, Daichi Saito, Katsushi Ikeuchi +3
To use new robot hardware in a new environment, it is necessary to develop a control program tailored to that specific robot in that environment. Considering the reusability of sof…
Polos: Multimodal Metric Learning from Human Feedback for Image Captioning
Yuiga Wada, Kanta Kaneda, Daichi Saito +1
Establishing an automatic evaluation metric that closely aligns with human judgments is essential for effectively developing image captioning models. Recent data-driven metrics hav…
Constraint-aware Policy for Compliant Manipulation
Daichi Saito, Kazuhiro Sasabuchi, Naoki Wake +4
Robot manipulation in a physically-constrained environment requires compliant manipulation. Compliant manipulation is a manipulation skill to adjust hand motion based on the force…
Tracker: Model-based Reinforcement Learning for Tracking Control of Human Finger Attached with Thin McKibben Muscles
Daichi Saito, Eri Nagatomo, Jefferson Pardomuan +1
To adopt the soft hand exoskeleton to support activities of daily livings, it is necessary to control finger joints precisely with the exoskeleton. The problem of controlling joint…