3 papers
cs.RO2024
CoverLib: Classifiers-equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-tuned Motion Planning
Hirokazu Ishida, Naoki Hiraoka, Kei Okada +1
Library-based methods are known to be very effective for fast motion planning by adapting an experience retrieved from a precomputed library. This article presents CoverLib, a prin…
cs.RO2023
Development of a Whole-body Work Imitation Learning System by a Biped and Bi-armed Humanoid
Yutaro Matsuura, Kento Kawaharazuka, Naoki Hiraoka +3
Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle o…
cs.RO2023
HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation
Annan Tang, Takuma Hiraoka, Naoki Hiraoka +5
Transferring human motion skills to humanoid robots remains a significant challenge. In this study, we introduce a Wasserstein adversarial imitation learning system, allowing human…