4 papers
Flow as Flow: Modeling Robot Velocity Fields as Probability Velocity Fields for Flow-Based Object Manipulation
Koki Seno, Daichi Yashima, Yusuke Takagi +2
Cross-embodiment data have become central to training robotic foundation models. To leverage such heterogeneous data, we focus on flow-based object manipulation, where robot flows…
AnoleVLA: Lightweight Vision-Language-Action Model with Deep State Space Models for Mobile Manipulation
Yusuke Takagi, Motonari Kambara, Daichi Yashima +3
In this study, we address the problem of language-guided robotic manipulation, where a robot is required to manipulate a wide range of objects based on visual observations and natu…
Self-Viscophoresis: Autonomous Motion by Biasing Thermal Fluctuations via Self-Generated Viscosity Asymmetry
Bokusui Nakayama, Yusuke Takagi, Ryoya Hirose +5
Microscale transport often relies on ubiquitous yet intrinsically random thermal fluctuations. Understanding how such fluctuations can be biased into directed motion has long been…
FLARE-SSM: Deep State Space Models with Influence-Balanced Loss for 72-Hour Solar Flare Prediction
Yusuke Takagi, Shunya Nagashima, Komei Sugiura
Accurate and reliable solar flare predictions are essential to mitigate potential impacts on critical infrastructure. However, the current performance of solar flare forecasting is…