1 citations · 2 across the 5 of their papers we have counts for
5 papers · 1 filter
RoboPace: Contact-Aware Time-Optimal Retiming for Action-Chunk Policies
Mimo Shirasaka, Takehiko Ohkawa, Takuya Okubo +3
Robot manipulation data collection has been shifting from teleoperation toward robot-free demonstrations, through interfaces such as the Universal Manipulation Interface (UMI) or d…
Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery
Mimo Shirasaka, Cristian C. Beltran-Hernandez, Masashi Hamaya +1
Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel appr…
SPARK: Graph-Based Online Semantic Integration System for Robot Task Planning
Mimo Shirasaka, Yuya Ikeda, Tatsuya Matsushima +2
The ability to update information acquired through various means online during task execution is crucial for a general-purpose service robot. This information includes geometric an…
TRAIL Team Description Paper for RoboCup@Home 2023
Chikaha Tsuji, Dai Komukai, Mimo Shirasaka +13
Our team, TRAIL, consists of AI/ML laboratory members from The University of Tokyo. We leverage our extensive research experience in state-of-the-art machine learning to build gene…
Self-Recovery Prompting: Promptable General Purpose Service Robot System with Foundation Models and Self-Recovery
Mimo Shirasaka, Tatsuya Matsushima, Soshi Tsunashima +8
A general-purpose service robot (GPSR), which can execute diverse tasks in various environments, requires a system with high generalizability and adaptability to tasks and environm…