1 citations · 1 across the 11 of their papers we have counts for
14 papers
D3DWA: Adaptive Weight and Prediction-Horizon for Dynamic Window Approach via Dueling Double Deep Q-Network
Zahra Jooyandeh, Masato Kobayashi, Yuki Uranishi
The Dynamic Window Approach (DWA) is widely used for local navigation, but its performance depends strongly on parameters that are typically fixed before navigation. In particular,…
MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control
Masashi Sasago, Masato Kobayashi, Yuki Uranishi
Visual torque feedback supports underwater bilateral teleoperation, but the benefit of mixed reality (MR) over conventional monitor presentation remains unclear. We present MR-GLi,…
Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity
Takumi Kobayashi, Masato Kobayashi, Yuki Uranishi
Bilateral control-based imitation learning captures both position and force information, making it well suited to contact-rich manipulation. However, existing approaches provide li…
MRReP: Mixed Reality-based Hand-drawn Reference Path Editing Interface for Mobile Robot Navigation
Takumi Taki, Masato Kobayashi, Yuki Uranishi
Autonomous mobile robots operating in human-shared indoor environments often require paths that reflect human spatial intentions, such as avoiding interference with pedestrian flow…
Bi-HIL: Bilateral Control-Based Multimodal Hierarchical Imitation Learning via Subtask-Level Progress Rate and Keyframe Memory for Long-Horizon Contact-Rich Robotic Manipulation
Thanpimon Buamanee, Masato Kobayashi, Yuki Uranishi
Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical archi…
MRPoS: Mixed Reality-Based Robot Navigation Interface Using Spatial Pointing and Speech with Large Language Model
Eduardo Iglesius, Masato Kobayashi, Yuki Uranishi
Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR inter…
Bi-VLA: Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation
Masato Kobayashi, Thanpimon Buamanee
We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation le…
Bi-LAT: Bilateral Control-Based Imitation Learning via Natural Language and Action Chunking with Transformers
Takumi Kobayashi, Masato Kobayashi, Thanpimon Buamanee +1
We present Bi-LAT, a novel imitation learning framework that unifies bilateral control with natural language processing to achieve precise force modulation in robotic manipulation.…
MRHaD: Mixed Reality-based Hand-Drawn Map Editing Interface for Mobile Robot Navigation
Takumi Taki, Masato Kobayashi, Eduardo Iglesius +3
Mobile robot navigation systems are increasingly relied upon in dynamic and complex environments, yet they often struggle with map inaccuracies and the resulting inefficient path p…
ALPHA- and Bi-ACT Are All You Need: Importance of Position and Force Information/Control for Imitation Learning of Unimanual and Bimanual Robotic Manipulation with Low-Cost System
Masato Kobayashi, Thanpimon Buamanee, Takumi Kobayashi
Autonomous manipulation in everyday tasks requires flexible action generation to handle complex, diverse real-world environments, such as objects with varying hardness and softness…
DABI: Evaluation of Data Augmentation Methods Using Downsampling in Bilateral Control-Based Imitation Learning with Images
Masato Kobayashi, Thanpimon Buamanee, Yuki Uranishi
Autonomous robot manipulation is a complex and continuously evolving robotics field. This paper focuses on data augmentation methods in imitation learning. Imitation learning consi…
MRNaB: Mixed Reality-based Robot Navigation Interface using Optical-see-through MR-beacons
Eduardo Iglesius, Masato Kobayashi, Yuki Uranishi +1
Recent advancements in robotics have led to the development of numerous interfaces to enhance the intuitiveness of robot navigation. However, the reliance on traditional 2D display…
ILBiT: Imitation Learning for Robot Using Position and Torque Information based on Bilateral Control with Transformer
Masato Kobayashi, Thanpimon Buamanee, Yuki Uranishi +1
Autonomous manipulation in robot arms is a complex and evolving field of study in robotics. This paper introduces an innovative approach to this challenge by focusing on imitation…
Bi-ACT: Bilateral Control-Based Imitation Learning via Action Chunking with Transformer
Thanpimon Buamanee, Masato Kobayashi, Yuki Uranishi +1
Autonomous manipulation in robot arms is a complex and evolving field of study in robotics. This paper proposes work stands at the intersection of two innovative approaches in the…