22 citations · 77 across the 18 of their papers we have counts for
18 papers
MEVION: Low-Cost Open-Source Data Collection System for Powerful and High-Speed Dual-Arm Manipulation
Kento Kawaharazuka, Yoshiki Obinata, Hirokazu Ishida +6
The global competition for developing robotic foundation models is intensifying. Among the data collection systems used for dual-arm robots, ALOHA is representative of being low-co…
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…
Mockingbird: How does LLM perform in general machine learning tasks?
Haoyu Jia, Yoshiki Obinata, Kento Kawaharazuka +1
Large language models (LLMs) are now being used with increasing frequency as chat bots, tasked with the summarizing information or generating text and code in accordance with user…
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…
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…
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…
A method for Selecting Scenes and Emotion-based Descriptions for a Robot's Diary
Aiko Ichikura, Kento Kawaharazuka, Yoshiki Obinata +2
In this study, we examined scene selection methods and emotion-based descriptions for a robot's daily diary. We proposed a scene selection method and an emotion description method…
Automatic Diary Generation System including Information on Joint Experiences between Humans and Robots
Aiko Ichikura, Kento Kawaharazuka, Yoshiki Obinata +3
In this study, we propose an automatic diary generation system that uses information from past joint experiences with the aim of increasing the favorability for robots through shar…
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…