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Improving Cross-embodiment Transfer in Latent Action Models with Action-Similarity Supervision
Maxime Alvarez, Renzo Caballero, Tatsuya Matsushima +2
As generalist robot policies gain vision and language from web-scale pretraining, demonstrations remain costly to collect and tied to the robot that recorded them. Latent action mo…
DREAM: Deployment-Time Demonstration Generation via Real-to-Sim for Scalable Policy Adaptation
Makoto Sato, Tatsuya Matsushima, Yutaka Matsuo +1
Vision-language-action (VLA) models have made strong progress in language-conditioned robot manipulation, but improving their performance in a new workspace still often requires ac…
Collective Intelligence for 2D Push Manipulations with Mobile Robots
So Kuroki, Tatsuya Matsushima, Jumpei Arima +4
While natural systems often present collective intelligence that allows them to self-organize and adapt to changes, the equivalent is missing in most artificial systems. We explore…
World Robot Challenge 2020 -- Partner Robot: A Data-Driven Approach for Room Tidying with Mobile Manipulator
Tatsuya Matsushima, Yuki Noguchi, Jumpei Arima +10
Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and ro…