39 citations · 150 across the 50 of their papers we have counts for
13 papers · 1 filter
Prompt2Craft: Generating Functional Craft Assemblies with LLMs
Vitor Hideyo Isume, Takuya Kiyokawa, Natsuki Yamanobe +3
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembl…
Learning-based Cooperative Robotic Paper Wrapping: A Unified Control Policy with Residual Force Control
Rewida Ali, Cristian C. Beltran-Hernandez, Weiwei Wan +1
Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordin…
Soft Regrasping Tool Inspired by Jamming Gripper
Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan +1
Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for e…
A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning
Hao Chen, Takuya Kiyokawa, Zhengtao Hu +2
Grasping unknown objects from a single view has remained a challenging topic in robotics due to the uncertainty of partial observation. Recent advances in large-scale models have l…
Learning from Planned Data to Improve Robotic Pick-and-Place Planning Efficiency
Liang Qin, Weiwei Wan, Jun Takahashi +3
This work proposes a learning method to accelerate robotic pick-and-place planning by predicting shared grasps. Shared grasps are defined as grasp poses feasible to both the initia…
IKSel: Selecting Good Seed Joint Values for Fast Numerical Inverse Kinematics Iterations
Xinyi Yuan, Weiwei Wan, Kensuke Harada
This paper revisits the numerical inverse kinematics (IK) problem, leveraging modern computational resources and refining the seed selection process to develop a solver that is com…