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cs.RO2025
AIRoA MoMa Dataset: A Large-Scale Hierarchical Dataset for Mobile Manipulation
Ryosuke Takanami, Petr Khrapchenkov, Shu Morikuni +32
As robots transition from controlled settings to unstructured human environments, building generalist agents that can reliably follow natural language instructions remains a centra…
cs.RO2025
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…
cs.RO2025
GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy
So Kuroki, Jiaxian Guo, Tatsuya Matsushima +7
Due to the inherent uncertainty in their deformability during motion, previous methods in deformable object manipulation, such as rope and cloth, often required hundreds of real-wo…