4 papers
Object-Centric Mobile Manipulation through SAM2-Guided Perception and Imitation Learning
Wang Zhicheng, Satoshi Yagi, Satoshi Yamamori +1
Imitation learning for mobile manipulation is a key challenge in the field of robotic manipulation. However, current mobile manipulation frameworks typically decouple navigation an…
Poxel: Voxel Reconstruction for 3D Printing
Ruixiang Cao, Satoshi Yagi, Satoshi Yamamori +1
Recent advancements in 3D reconstruction, especially through neural rendering approaches like Neural Radiance Fields (NeRF) and Plenoxel, have led to high-quality 3D visualizations…
Goal-Conditioned Terminal Value Estimation for Real-time and Multi-task Model Predictive Control
Mitsuki Morita, Satoshi Yamamori, Satoshi Yagi +2
While MPC enables nonlinear feedback control by solving an optimal control problem at each timestep, the computational burden tends to be significantly large, making it difficult t…
Unsupervised Neural Motion Retargeting for Humanoid Teleoperation
Satoshi Yagi, Mitsunori Tada, Eiji Uchibe +3
This study proposes an approach to human-to-humanoid teleoperation using GAN-based online motion retargeting, which obviates the need for the construction of pairwise datasets to i…