155 citations · 765 across the 63 of their papers we have counts for
21 papers · 1 filter
On-Demand Human Assistance for Task Continuation under Physical Action Failures in LLM-based Planning
Shoichi Hasegawa, Akira Taniguchi, Lotfi El Hafi +2
While robot action planning based on large language models (LLMs) has advanced remarkably, continuing a task after a physical action failure during execution remains a key challeng…
Multi-Robot Task Planning for Multi-Object Retrieval Tasks with Distributed On-Site Knowledge via Large Language Models
Kento Murata, Shoichi Hasegawa, Tomochika Ishikawa +4
It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understandin…
Toward Ownership Understanding of Objects: Active Question Generation with Large Language Model and Probabilistic Generative Model
Saki Hashimoto, Shoichi Hasegawa, Tomochika Ishikawa +4
Robots operating in domestic and office environments must understand object ownership to correctly execute instructions such as ``Bring me my cup.'' However, ownership cannot be re…
Take That for Me: Multimodal Exophora Resolution with Interactive Questioning for Ambiguous Out-of-View Instructions
Akira Oyama, Shoichi Hasegawa, Akira Taniguchi +2
Daily life support robots must interpret ambiguous verbal instructions involving demonstratives such as ``Bring me that cup,'' even when objects or users are out of the robot's vie…
Object Instance Retrieval in Assistive Robotics: Leveraging Fine-Tuned SimSiam with Multi-View Images Based on 3D Semantic Map
Taichi Sakaguchi, Akira Taniguchi, Yoshinobu Hagiwara +3
Robots that assist humans in their daily lives should be able to locate specific instances of objects in an environment that match a user's desired objects. This task is known as i…
Real-world Instance-specific Image Goal Navigation: Bridging Domain Gaps via Contrastive Learning
Taichi Sakaguchi, Akira Taniguchi, Yoshinobu Hagiwara +3
Improving instance-specific image goal navigation (InstanceImageNav), which locates the identical object in a real-world environment from a query image, is essential for robotic sy…
World-Model-Based Control for Industrial box-packing of Multiple Objects using NewtonianVAE
Yusuke Kato, Ryo Okumura, Tadahiro Taniguchi
The process of industrial box-packing, which involves the accurate placement of multiple objects, requires high-accuracy positioning and sequential actions. When a robot is tasked…
Learning Compliant Stiffness by Impedance Control-Aware Task Segmentation and Multi-objective Bayesian Optimization with Priors
Masashi Okada, Mayumi Komatsu, Ryo Okumura +1
Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffne…
Online Re-Planning and Adaptive Parameter Update for Multi-Agent Path Finding with Stochastic Travel Times
Atsuyoshi Kita, Nobuhiro Suenari, Masashi Okada +1
This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group…
Goal-Image Conditioned Dynamic Cable Manipulation through Bayesian Inference and Multi-Objective Black-Box Optimization
Kuniyuki Takahashi, Tadahiro Taniguchi
To perform dynamic cable manipulation to realize the configuration specified by a target image, we formulate dynamic cable manipulation as a stochastic forward model. Then, we prop…
World Models and Predictive Coding for Cognitive and Developmental Robotics: Frontiers and Challenges
Tadahiro Taniguchi, Shingo Murata, Masahiro Suzuki +8
Creating autonomous robots that can actively explore the environment, acquire knowledge and learn skills continuously is the ultimate achievement envisioned in cognitive and develo…
Active Exploration based on Information Gain by Particle Filter for Efficient Spatial Concept Formation
Akira Taniguchi, Yoshiki Tabuchi, Tomochika Ishikawa +3
Autonomous robots need to learn the categories of various places by exploring their environments and interacting with users. However, preparing training datasets with linguistic in…
Hierarchical Path-planning from Speech Instructions with Spatial Concept-based Topometric Semantic Mapping
Akira Taniguchi, Shuya Ito, Tadahiro Taniguchi
Assisting individuals in their daily activities through autonomous mobile robots, especially for users without specialized knowledge, is crucial. Specifically, the capability of ro…
Tactile-Sensitive NewtonianVAE for High-Accuracy Industrial Connector Insertion
Ryo Okumura, Nobuki Nishio, Tadahiro Taniguchi
An industrial connector insertion task requires submillimeter positioning and grasp pose compensation for a plug. Thus, highly accurate estimation of the relative pose between a pl…
Hierarchical Bayesian Model for the Transfer of Knowledge on Spatial Concepts based on Multimodal Information
Yoshinobu Hagiwara, Keishiro Taguchi, Satoshi Ishibushi +2
This paper proposes a hierarchical Bayesian model based on spatial concepts that enables a robot to transfer the knowledge of places from experienced environments to a new environm…
Map completion from partial observation using the global structure of multiple environmental maps
Yuki Katsumata, Akinori Kanechika, Akira Taniguchi +3
Using the spatial structure of various indoor environments as prior knowledge, the robot would construct the map more efficiently. Autonomous mobile robots generally apply simultan…
Spatial Concept-Based Navigation with Human Speech Instructions via Probabilistic Inference on Bayesian Generative Model
Akira Taniguchi, Yoshinobu Hagiwara, Tadahiro Taniguchi +1
Robots are required to not only learn spatial concepts autonomously but also utilize such knowledge for various tasks in a domestic environment. Spatial concept represents a multim…
Autonomous Planning Based on Spatial Concepts to Tidy Up Home Environments with Service Robots
Akira Taniguchi, Shota Isobe, Lotfi El Hafi +2
Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots…
Improved and Scalable Online Learning of Spatial Concepts and Language Models with Mapping
Akira Taniguchi, Yoshinobu Hagiwara, Tadahiro Taniguchi +1
We propose a novel online learning algorithm, called SpCoSLAM 2.0, for spatial concepts and lexical acquisition with high accuracy and scalability. Previously, we proposed SpCoSLAM…
Bayesian Body Schema Estimation using Tactile Information obtained through Coordinated Random Movements
Tomohiro Mimura, Yoshinobu Hagiwara, Tadahiro Taniguchi +1
This paper describes a computational model, called the Dirichlet process Gaussian mixture model with latent joints (DPGMM-LJ), that can find latent tree structure embedded in data…
Multimodal Hierarchical Dirichlet Process-based Active Perception
Tadahiro Taniguchi, Toshiaki Takano, Ryo Yoshino
In this paper, we propose an active perception method for recognizing object categories based on the multimodal hierarchical Dirichlet process (MHDP). The MHDP enables a robot to f…