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cs.RO2026
DeicticVLA: Unifying Instruction Modes Based on Language and Deictic Gestures in a Single VLA
Kango Yanagida, Tatsuya Aoki, Yuichiro Yoshikawa +1
Vision-Language-Action models (VLAs) allow users to specify manipulation tasks in natural language, but distinguishing a target or placement goal among objects of the same category…
cs.RO2026
Stay Seated: Learning Omnidirectional Humanoid Locomotion on a Passive Mobile Chair with Casters
Kango Yanagida, Kazuki Miyazawa, Takato Horii
Humanoid robots with quasi-direct-drive actuators continuously generate joint torque while standing, whereas seated humans delegate weight support to chairs during desk work. As a…
cs.RO2025
External Photoreflective Tactile Sensing Based on Surface Deformation Measurement
Seiichi Yamamoto, Hiroki Ishizuka, Takumi Kawasetsu +6
We present a tactile sensing method enabled by the mechanical compliance of soft robots; an externally attachable photoreflective module reads surface deformation of silicone skin…