9 papers
MRReP: Mixed Reality-based Hand-drawn Reference Path Editing Interface for Mobile Robot Navigation
Takumi Taki, Masato Kobayashi, Yuki Uranishi
Autonomous mobile robots operating in human-shared indoor environments often require paths that reflect human spatial intentions, such as avoiding interference with pedestrian flow…
Bi-HIL: Bilateral Control-Based Multimodal Hierarchical Imitation Learning via Subtask-Level Progress Rate and Keyframe Memory for Long-Horizon Contact-Rich Robotic Manipulation
Thanpimon Buamanee, Masato Kobayashi, Yuki Uranishi
Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical archi…
MRPoS: Mixed Reality-Based Robot Navigation Interface Using Spatial Pointing and Speech with Large Language Model
Eduardo Iglesius, Masato Kobayashi, Yuki Uranishi
Recent advancements have made robot navigation more intuitive by transitioning from traditional 2D displays to spatially aware Mixed Reality (MR) systems. However, current MR inter…
Bi-VLA: Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation
Masato Kobayashi, Thanpimon Buamanee
We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation le…
Bi-LAT: Bilateral Control-Based Imitation Learning via Natural Language and Action Chunking with Transformers
Takumi Kobayashi, Masato Kobayashi, Thanpimon Buamanee +1
We present Bi-LAT, a novel imitation learning framework that unifies bilateral control with natural language processing to achieve precise force modulation in robotic manipulation.…
MRHaD: Mixed Reality-based Hand-Drawn Map Editing Interface for Mobile Robot Navigation
Takumi Taki, Masato Kobayashi, Eduardo Iglesius +3
Mobile robot navigation systems are increasingly relied upon in dynamic and complex environments, yet they often struggle with map inaccuracies and the resulting inefficient path p…