Zobrazeno 1 - 10
of 3 264
pro vyhledávání: '"A. Hamaya"'
Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control, often stru
Externí odkaz:
http://arxiv.org/abs/2410.19235
Tactile perception is vital, especially when distinguishing visually similar objects. We propose an approach to incorporate tactile data into a Vision-Language Model (VLM) for visuo-tactile zero-shot object recognition. Our approach leverages the zer
Externí odkaz:
http://arxiv.org/abs/2409.09276
This study addresses contact-rich object insertion tasks under unstructured environments using a robot with a soft wrist, enabling safe contact interactions. For the unstructured environments, we assume that there are uncertainties in object grasp an
Externí odkaz:
http://arxiv.org/abs/2408.17061
Near-Optimal Policy Identification in Robust Constrained Markov Decision Processes via Epigraph Form
Autor:
Kitamura, Toshinori, Kozuno, Tadashi, Kumagai, Wataru, Hoshino, Kenta, Hosoe, Yohei, Kasaura, Kazumi, Hamaya, Masashi, Parmas, Paavo, Matsuo, Yutaka
Designing a safe policy for uncertain environments is crucial in real-world control applications. However, this challenge remains inadequately addressed within the Markov decision process (MDP) framework. This paper presents the first algorithm capab
Externí odkaz:
http://arxiv.org/abs/2408.16286
Automating dexterous, contact-rich manipulation tasks using rigid robots is a significant challenge in robotics. Rigid robots, defined by their actuation through position commands, face issues of excessive contact forces due to their inability to ada
Externí odkaz:
http://arxiv.org/abs/2406.14990
Autor:
Fuchioka, Yuni, Hamaya, Masashi
Tactile sensing has become a popular sensing modality for robot manipulators, due to the promise of providing robots with the ability to measure the rich contact information that gets transmitted through its sense of touch. Among the diverse range of
Externí odkaz:
http://arxiv.org/abs/2404.15626
Cooking robots can enhance the home experience by reducing the burden of daily chores. However, these robots must perform their tasks dexterously and safely in shared human environments, especially when handling dangerous tools such as kitchen knives
Externí odkaz:
http://arxiv.org/abs/2404.02569
Publikováno v:
Am J Prev Med. 2024
With advancement of medicine, alternative exposures or interventions are emerging with respect to a common outcome, and there are needs to formally test the difference in the associations of multiple exposures. We propose a duplication method-based m
Externí odkaz:
http://arxiv.org/abs/2403.14044
This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequency control signals than a rigid one. Previous studies often use a fully
Externí odkaz:
http://arxiv.org/abs/2402.18002
Autor:
Shirai, Keisuke, Beltran-Hernandez, Cristian C., Hamaya, Masashi, Hashimoto, Atsushi, Tanaka, Shohei, Kawaharazuka, Kento, Tanaka, Kazutoshi, Ushiku, Yoshitaka, Mori, Shinsuke
Large language models (LLMs) are accelerating the development of language-guided robot planners. Meanwhile, symbolic planners offer the advantage of interpretability. This paper proposes a new task that bridges these two trends, namely, multimodal pl
Externí odkaz:
http://arxiv.org/abs/2311.00967