103 citations · 195 across the 20 of their papers we have counts for
22 papers
AIRoA-0: Long-Horizon, Precise, Cross-Embodiment Manipulation from Handheld Data
Yueh-Hua Wu, Kei Ota, Hanlong Li +17
AIRoA-0 (A-0) is a bimanual manipulation system learned from 16,151 hours of handheld demonstrations, with no robot data collected at any stage. The demonstrations are recorded wit…
YUBI: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale
Takehiko Ohkawa, Jumpei Arima, Yuki Noguchi +16
We introduce Yielding Universal Bidigital Interface (YUBI), a finger-aligned gripper designed to enable intuitive, ergonomic, and scalable data collection for bimanual dexterous ma…
Efficient Robot Design with Multi-Objective Black-Box Optimization and Large Language Models
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
Various methods for robot design optimization have been developed so far. These methods are diverse, ranging from numerical optimization to black-box optimization. While numerical…
Towards Embodiment Scaling Laws in Robot Locomotion
Bo Ai, Liu Dai, Nico Bohlinger +7
Cross-embodiment generalization underpins the vision of building generalist embodied agents for any robot, yet its enabling factors remain poorly understood. We investigate embodim…
Front Hair Styling Robot System Using Path Planning for Root-Centric Strand Adjustment
Soonhyo Kim, Naoaki Kanazawa, Shun Hasegawa +2
Hair styling is a crucial aspect of personal grooming, significantly influenced by the appearance of front hair. While brushing is commonly used both to detangle hair and for styli…
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu, Qiyang Li, Jianlan Luo +1
Recent advances in robotic foundation models have enabled the development of generalist policies that can adapt to diverse tasks. While these models show impressive flexibility, th…
Remote Life Support Robot Interface System for Global Task Planning and Local Action Expansion Using Foundation Models
Yoshiki Obinata, Haoyu Jia, Kento Kawaharazuka +2
Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined…
Robotic State Recognition with Image-to-Text Retrieval Task of Pre-Trained Vision-Language Model and Black-Box Optimization
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
State recognition of the environment and objects, such as the open/closed state of doors and the on/off of lights, is indispensable for robots that perform daily life support and s…
Real-World Cooking Robot System from Recipes Based on Food State Recognition Using Foundation Models and PDDL
Naoaki Kanazawa, Kento Kawaharazuka, Yoshiki Obinata +2
Although there is a growing demand for cooking behaviours as one of the expected tasks for robots, a series of cooking behaviours based on new recipe descriptions by robots in the…
Robotic Environmental State Recognition with Pre-Trained Vision-Language Models and Black-Box Optimization
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
In order for robots to autonomously navigate and operate in diverse environments, it is essential for them to recognize the state of their environment. On the other hand, the envir…
Reflex-Based Open-Vocabulary Navigation without Prior Knowledge Using Omnidirectional Camera and Multiple Vision-Language Models
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +3
Various robot navigation methods have been developed, but they are mainly based on Simultaneous Localization and Mapping (SLAM), reinforcement learning, etc., which require prior m…
Self-Supervised Learning of Visual Servoing for Low-Rigidity Robots Considering Temporal Body Changes
Kento Kawaharazuka, Naoaki Kanazawa, Kei Okada +1
In this study, we investigate object grasping by visual servoing in a low-rigidity robot. It is difficult for a low-rigidity robot to handle its own body as intended compared to a…
Learning-Based Wiping Behavior of Low-Rigidity Robots Considering Various Surface Materials and Task Definitions
Kento Kawaharazuka, Naoaki Kanazawa, Kei Okada +1
Wiping behavior is a task of tracing the surface of an object while feeling the force with the palm of the hand. It is necessary to adjust the force and posture appropriately consi…
Continuous Object State Recognition for Cooking Robots Using Pre-Trained Vision-Language Models and Black-box Optimization
Kento Kawaharazuka, Naoaki Kanazawa, Yoshiki Obinata +2
The state recognition of the environment and objects by robots is generally based on the judgement of the current state as a classification problem. On the other hand, state change…
Daily Assistive View Control Learning of Low-Cost Low-Rigidity Robot via Large-Scale Vision-Language Model
Kento Kawaharazuka, Naoaki Kanazawa, Yoshiki Obinata +2
In this study, we develop a simple daily assistive robot that controls its own vision according to linguistic instructions. The robot performs several daily tasks such as recording…
Binary State Recognition by Robots using Visual Question Answering of Pre-Trained Vision-Language Model
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
Recognition of the current state is indispensable for the operation of a robot. There are various states to be recognized, such as whether an elevator door is open or closed, wheth…
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Embodiment Collaboration, Abby O'Neill, Abdul Rehman +291
Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, thi…
Semantic Scene Difference Detection in Daily Life Patroling by Mobile Robots using Pre-Trained Large-Scale Vision-Language Model
Yoshiki Obinata, Kento Kawaharazuka, Naoaki Kanazawa +7
It is important for daily life support robots to detect changes in their environment and perform tasks. In the field of anomaly detection in computer vision, probabilistic and deep…
Recognition of Heat-Induced Food State Changes by Time-Series Use of Vision-Language Model for Cooking Robot
Naoaki Kanazawa, Kento Kawaharazuka, Yoshiki Obinata +2
Cooking tasks are characterized by large changes in the state of the food, which is one of the major challenges in robot execution of cooking tasks. In particular, cooking using a…
Foundation Model based Open Vocabulary Task Planning and Executive System for General Purpose Service Robots
Yoshiki Obinata, Naoaki Kanazawa, Kento Kawaharazuka +4
This paper describes a strategy for implementing a robotic system capable of performing General Purpose Service Robot (GPSR) tasks in robocup@home. The GPSR task is that a real rob…
VQA-based Robotic State Recognition Optimized with Genetic Algorithm
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
State recognition of objects and environment in robots has been conducted in various ways. In most cases, this is executed by processing point clouds, learning images with annotati…
Robotic Applications of Pre-Trained Vision-Language Models to Various Recognition Behaviors
Kento Kawaharazuka, Yoshiki Obinata, Naoaki Kanazawa +2
In recent years, a number of models that learn the relations between vision and language from large datasets have been released. These models perform a variety of tasks, such as an…