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ULOHA: An Underwater Bimanual Robot System for Robot Learning
Masato Kobayashi, Takeru Tsunoori
Underwater visuomotor policy learning has focused primarily on single manipulators, while bimanual imitation learning has been studied largely in air. We present ULOHA, an underwat…
Bi-AQUA: Bilateral Control-Based Imitation Learning for Underwater Robot Arms via Lighting-Aware Action Chunking with Transformers
Takeru Tsunoori, Masato Kobayashi, Yuki Uranishi
Underwater robotic manipulation remains challenging because lighting variation, color attenuation, scattering, and reduced visibility can severely degrade visuomotor policies. We p…
MR-UBi: Mixed Reality-Based Underwater Robot Arm Teleoperation System with Reaction Torque Indicator via Bilateral Control
Kohei Nishi, Masato Kobayashi, Yuki Uranishi
We present a mixed reality-based underwater robot arm teleoperation system with a reaction torque indicator via bilateral control (MR-UBi). The reaction torque indicator (RTI) over…