4 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…
D-CLING: Prior-Preserving Depth-Conditioned Fine-Tuning for Navigation Foundation Models
Shintaro Nakaoka, Takayuki Kanai, Kazuhito Tanaka
Navigation Foundation Models (NFMs) trained on large cross-embodied datasets have demonstrated powerful generalizability in various scenarios. Adopting in-domain fine-tuning for an…
Self-Supervised Geometry-Guided Initialization for Robust Monocular Visual Odometry
Takayuki Kanai, Igor Vasiljevic, Vitor Guizilini +1
Monocular visual odometry is a key technology in various autonomous systems. Traditional feature-based methods suffer from failures due to poor lighting, insufficient texture, and…
Robust Imitation Learning for Mobile Manipulator Focusing on Task-Related Viewpoints and Regions
Yutaro Ishida, Yuki Noguchi, Takayuki Kanai +2
We study how to generalize the visuomotor policy of a mobile manipulator from the perspective of visual observations. The mobile manipulator is prone to occlusion owing to its own…