5 papers
OptimusMesh: Compact Autoregressive Mesh Generation from Point Clouds via Sparse Latent Pivots
Mazhar Iqbal, Naoya Chiba, Xuanmeng Sha +2
Generating compact and geometrically faithful 3D meshes directly from point clouds remains a fundamental challenge. Point clouds are unordered and sparse, whereas meshes exhibit ir…
D3DWA: Adaptive Weight and Prediction-Horizon for Dynamic Window Approach via Dueling Double Deep Q-Network
Zahra Jooyandeh, Masato Kobayashi, Yuki Uranishi
The Dynamic Window Approach (DWA) is widely used for local navigation, but its performance depends strongly on parameters that are typically fixed before navigation. In particular,…
MR-GLi: Mixed Reality-Based Gripper-Linked Overlays for Underwater Robot Arm Teleoperation via Bilateral Control
Masashi Sasago, Masato Kobayashi, Yuki Uranishi
Visual torque feedback supports underwater bilateral teleoperation, but the benefit of mixed reality (MR) over conventional monitor presentation remains unclear. We present MR-GLi,…
Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity
Takumi Kobayashi, Masato Kobayashi, Yuki Uranishi
Bilateral control-based imitation learning captures both position and force information, making it well suited to contact-rich manipulation. However, existing approaches provide li…
Panoptic-aware Image-to-Image Translation
Liyun Zhang, Photchara Ratsamee, Bowen Wang +4
Despite remarkable progress in image translation, the complex scene with multiple discrepant objects remains a challenging problem. The translated images have low fidelity and tiny…