11 papers
Where Do Humans Look When Demonstrating to Robots? Human Gaze Behavior in Pick-and-Place Tasks Across Demonstration Devices
Yutaro Ishida, Takamitsu Matsubara, Takayuki Kanai +2
Imitation learning for generalizable performance often requires a large volume of demonstration data, making the process significantly costly. One promising strategy to address thi…
DecompGrind: A Decomposition Framework for Robotic Grinding via Cutting-Surface Planning and Contact-Force Adaptation
Shunsuke Araki, Takumi Hachimine, Yuki Saito +3
Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpiec…
Robust Sim-to-Real Cloth Untangling through Reduced-Resolution Observations via Adaptive Force-Difference Quantization
Yoshihisa Tsurumine, Yuki Kadokawa, Kohei Hayashi +2
Robotic cloth untangling requires progressively disentangling fabric by adapting pulling actions to changing contact and tension conditions. Because large-scale real-world training…
Task-Relevant and Irrelevant Region-Aware Augmentation for Generalizable Vision-Based Imitation Learning in Agricultural Manipulation
Shun Hattori, Hikaru Sasaki, Takumi Hachimine +2
Vision-based imitation learning has shown promise for robotic manipulation; however, its generalization remains limited in practical agricultural tasks. This limitation stems from…
VoxelDiffusionCut: Non-destructive Internal-part Extraction via Iterative Cutting and Structure Estimation
Takumi Hachimine, Yuhwan Kwon, Cheng-Yu Kuo +2
Non-destructive extraction of the target internal part, such as batteries and motors, by cutting surrounding structures is crucial at recycling and disposal sites. However, the div…
Progressive-Resolution Policy Distillation: Leveraging Coarse-Resolution Simulations for Time-Efficient Fine-Resolution Policy Learning
Yuki Kadokawa, Hirotaka Tahara, Takamitsu Matsubara
In earthwork and construction, excavators often encounter large rocks mixed with various soil conditions, requiring skilled operators. This paper presents a framework for achieving…