41 citations · 104 across the 35 of their papers we have counts for
15 papers · 1 filter
TOAST: Stochastic Robot Action Tokenization for Autoregressive Vision-Language-Action Models
Keisuke Shirai, Tomohiro Motoda, Hanbit Oh +5
Autoregressive Vision-Language-Action models often represent continuous robot actions as discrete token sequences, enabling action prediction with standard next-token objectives. F…
Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning
Tomohiro Motoda, Masaki Murooka, Keisuke Shirai +6
Robotic imitation learning often relies on external cameras, yet local interaction cues such as object proximity, contact onset, and grasp state are difficult to observe near the f…
EgoSpeedUp: Transferring Human Manipulation Tempo to Robot Policies
Hanbit Oh, Yukiyasu Domae, Takuma Yagi
Robot manipulation policies trained through imitation learning inherit not only the demonstrated behavior but also the conservative execution tempo of robot demonstrations. Existin…
Improving Imitation Learning Efficiency for Manipulation through Geometric Prior Pretraining
Shogo Iwakata, Tomohiro Motoda, Ryosuke Yamada +8
Applying an imitation learning policy to a new manipulation task usually requires collecting new demonstrations and retraining the model, which makes sample efficiency a practical…
Online Material Estimation for Conditioned Diffusion Policy in Shaping Deformable Linear Objects
Ryunosuke Yamada, Tomohiro Motoda, Yukiyasu Domae +1
Shape control of deformable linear objects (DLOs) is challenging for imitation learning because deformation behavior varies with material properties such as stiffness and elasticit…
ARTiS: An Adaptive Robotic Gripper for Enhanced Tool Manipulation in Disassembly Applications
Roman Mykhailyshyn, Yukiyasu Domae, Kensuke Harada
Grasping and holding tools while using them presents a considerable challenge not only for robots but also for humans. Such a challenge is particularly noticeable in processes invo…