Jorge Peña Queralta

収録論文 47本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• Kairos: 4Dシーングラフにおける存在と方向性流れの予測
  予測・シーングラフ2026/9/23

  階層的3Dシーングラフを4Dに拡張し、各ボクセルに方向混合と存在率を記憶させて、将来の任意時刻における人の存在確率と移動方向分布を予測する手法を提案。

• グリッパー認識型視覚言語行動モデル
  VLA2026/8/25

  異なるグリッパー種別に応じた戦略を学習できるよう、5種類のグリッパーを含む大規模データセットと、専用トークナイザーとポリシールーティングを備えたモデルを提案した。

• マイクロモビリティにおける追従モードのエンドツーエンド模倣学習
  模倣学習2025/11/1

  電動車椅子が人間を追従する際の制御を、手動調整ではなくエンドツーエンドの模倣学習で実現し、乗り心地とユーザー体験を向上させた研究。

• ROSBag MCPサーバ：LLMによるロボットデータ解析で実現するエージェント型身体性AI
  VLA2025/11/1

  ROS/ROS 2のbagデータを自然言語で解析・可視化・処理できるMCPサーバを提案し、8種のLLM/VLMのツール呼び出し性能を比較評価した。

• 身体性を持つエージェントAIに向けて：LLM・VLM駆動のロボット自律性とインタラクションのレビューと分類
  VLA2025/8/1

  LLMやVLMをロボットに統合する研究を調査し、エージェントの役割やモデル統合手法を分類するタクソノミーを提案したサーベイ論文。

• UWB測距のみによる姿勢認識の機械学習ベンチマーク：ヒューマンロボットインタラクションへの応用
  ヒューマンロボットインタラクション2024/8/1

  人体に装着した5つのUWBセンサの距離データからKNN・SVM・MLPで姿勢を分類し、ROS 2ノードで移動・飛行ロボットをリアルタイム制御する手法を比較評価した。

• Exploiting Local Observations for Robust Robot Learning
  2023/9/1
• A Customizable Conflict Resolution and Attribute-Based Access Control Framework for Multi-Robot Systems
  2023/8/1
• Vision-based Safe Autonomous UAV Docking with Panoramic Sensors
  2023/5/1
• Benchmarking UWB-Based Infrastructure-Free Positioning and Multi-Robot Relative Localization: Dataset and Characterization
  2023/5/1
• Simulation Analysis of Exploration Strategies and UAV Planning for Search and Rescue
  2023/4/1
• Event-driven Fabric Blockchain -- ROS 2 Interface: Towards Secure and Auditable Teleoperation of Mobile Robots
  2023/4/1
• Evaluating the Performance of Multi-Scan Integration for UAV LiDAR-based Tracking
  2023/4/1
• Fusing Odometry, UWB Ranging, and Spatial Detections for Relative Multi-Robot Localization
  2023/4/1
• Is Alice Really in Wonderland? UWB-Based Proof of Location for UAVs with Hyperledger Fabric Blockchain
  2023/4/1
• Exploiting Redundancy for UWB Anomaly Detection in Infrastructure-Free Multi-Robot Relative Localization
  2023/3/1
• Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments
  2023/3/1
• Distributed Robotic Systems in the Edge-Cloud Continuum with ROS 2: a Review on Novel Architectures and Technology Readiness
  2022/11/1
• Decentralized Vision-Based Byzantine Agent Detection in Multi-Robot Systems with IOTA Smart Contracts
  2022/10/1
• Vision-based GNSS-Free Localization for UAVs in the Wild
  2022/10/1
• A Benchmark for Multi-Modal Lidar SLAM with Ground Truth in GNSS-Denied Environments
  2022/10/1
• UWB Role Allocation with Distributed Ledger Technologies for Scalable Relative Localization in Multi-Robot Systems
  2022/8/1
• Partition-Tolerant and Byzantine-Tolerant Decision-Making for Distributed Robotic Systems with IOTA and ROS 2
  2022/8/1
• Secure Heterogeneous Multi-Robot Collaboration and Docking with Hyperledger Fabric Blockchain
  2022/6/1
• Federated Learning for Vision-based Obstacle Avoidance in the Internet of Robotic Things
  2022/4/1
• Towards Large-Scale Relative Localization in Multi-Robot Systems with Dynamic UWB Role Allocation
  2022/3/1
• Hyperledger Fabric Blockchain and ROS 2 Integration for Autonomous Mobile Robots
  2022/3/1
• Multi-Modal Lidar Dataset for Benchmarking General-Purpose Localization and Mapping Algorithms
  2022/3/1
• Analyzing General-Purpose Deep-Learning Detection and Segmentation Models with Images from a Lidar as a Camera Sensor
  2022/3/1
• Towards Large-Scale Scalable MAV Swarms with ROS2 and UWB-based Situated Communication
  2021/4/1
• An Overview of Federated Learning at the Edge and Distributed Ledger Technologies for Robotic and Autonomous Systems
  2021/4/1
• Adaptive Lidar Scan Frame Integration: Tracking Known MAVs in 3D Point Clouds
  2021/3/1
• Applications of UWB Networks and Positioning to Autonomous Robots and Industrial Systems
  2021/3/1
• Multi Sensor Fusion for Navigation and Mapping in Autonomous Vehicles: Accurate Localization in Urban Environments
  2021/3/1
• Long-Term Autonomy in Forest Environment using Self-Corrective SLAM
  2021/1/1
• VIO-UWB-Based Collaborative Localization and Dense Scene Reconstruction within Heterogeneous Multi-Robot Systems
  2020/11/1
• Sim-to-Real Transfer in Deep Reinforcement Learning for Robotics: a Survey
  2020/9/1
• Secure Encoded Instruction Graphs for End-to-End Data Validation in Autonomous Robots
  2020/9/1
• Ubiquitous Distributed Deep Reinforcement Learning at the Edge: Analyzing Byzantine Agents in Discrete Action Spaces
  2020/8/1
• Collaborative Multi-Robot Systems for Search and Rescue: Coordination and Perception
  2020/8/1
• Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation
  2020/5/1
• AutoSOS: Towards Multi-UAV Systems Supporting Maritime Search and Rescue with Lightweight AI and Edge Computing
  2020/5/1
• End-to-End Design for Self-Reconfigurable Heterogeneous Robotic Swarms
  2020/4/1
• Autocalibration of a Mobile UWB Localization System for Ad-Hoc Multi-Robot Deployments in GNSS-Denied Environments
  2020/4/1
• UWB-Based Localization for Multi-UAV Systems and Collaborative Heterogeneous Multi-Robot Systems: a Survey
  2020/4/1
• UWB-based system for UAV Localization in GNSS-Denied Environments: Characterization and Dataset
  2020/3/1
• Blockchain-Powered Collaboration in Heterogeneous Swarms of Robots
  2019/12/1