9 papers
Vortex-Induced Torque in Grasping Soft Objects: Influence of Geometry and Pneumatic Parameters
Roman Mykhailyshyn, Tomohiro Motoda, Ivan Virgala +2
Vortex grippers are commonly integrated into automated systems for handling objects with complex geometries in packaging, sorting, and assembling. However, their interaction with c…
TOAST: Stochastic Robot Action Tokenization for Autoregressive Vision-Language-Action Models
Keisuke Shirai, Tomohiro Motoda, Hanbit Oh +5
Autoregressive Vision-Language-Action models often represent continuous robot actions as discrete token sequences, enabling action prediction with standard next-token objectives. F…
Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning
Tomohiro Motoda, Masaki Murooka, Keisuke Shirai +6
Robotic imitation learning often relies on external cameras, yet local interaction cues such as object proximity, contact onset, and grasp state are difficult to observe near the f…
Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining
Shogo Iwakata, Tomohiro Motoda, Ryosuke Yamada +8
Applying an imitation learning policy to a new manipulation task usually requires collecting new demonstrations and retraining the model, which makes sample efficiency a practical…
ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications
Roman Mykhailyshyn, Yukiyasu Domae, Kensuke Harada
Grasping and holding tools while using them presents a considerable challenge not only for robots but also for humans. Such a challenge is particularly noticeable in processes invo…
Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion
Yosel Delgado, José G. Buenaventura-Carreón, Floris Erich +4
High-precision insertion remains a fundamental challenge in robotic manipulation due to the strict alignment requirements and contact-rich interactions involved. Although peg-in-ho…
A Flexible Field-Based Policy Learning Framework for Diverse Robotic Systems and Sensors
Jose Gustavo Buenaventura Carreon, Floris Erich, Roman Mykhailyshyn +3
We present a cross robot visuomotor learning framework that integrates diffusion policy based control with 3D semantic scene representations from D3Fields to enable category level…
Low-Contact Grasping of Soft Tissue with Complex Geometry using a Vortex Gripper
Roman Mykhailyshyn, Ann Majewicz Fey
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or…
Dexterous Manipulation of Deformable Objects via Pneumatic Gripping: Lifting by One End
Roman Mykhailyshyn, Jonathan Lee, Mykhailo Mykhailyshyn +2
Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Curr…