Kei Okada
収録論文 128本 ・ フィジカルAI/ロボット学習
歩行再構成可能ロボットVLAVLA/アフォーダンス/操作学習
※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
- ウェイポイント誘導強化学習による実機サイズ双腕ロボットのロバストなブラキエーション歩行2026/8/18
実機サイズの双腕ロボットで、エンドエフェクタの経路ウェイポイントを疎に指定して強化学習を行うことで、模倣学習データなしにロバストなブラキエーション（腕渡り）を実現した。シミュレーションと実機実験で、失敗回復を含む安定動作を確認した。
- 着脱式ワイヤ駆動：アクチュエータ共有による再構成可能ロボットアーキテクチャ再構成可能ロボット2026/8/16
重く高価なアクチュエータを共通ベースに集約し、ワイヤ経路を物理的に切断・再接続できる「ワイヤ着脱ユニット」により、複数の形態（剛体アーム、連続体アーム、グリッパ）を単一のアクチュエータセットで駆動する再構成可能ロボットシステムを提案・実証した。
- ニューラル内省ゲーティングによる視覚言語行動モデルの適応的KVキャッシュ再利用VLA2026/8/11
視覚言語行動モデル(VLA)の推論コスト削減のため、視覚的類似性に基づくKVキャッシュ再利用に、モデル自身の不確実性(ロジットマージン)を監視してキャッシュを無効化する軽量なトレーニング不要の手法を提案した。
- VLAff: 統一的な操作可能アフォーダンスのための視覚言語アフォーダンスモデルVLA/アフォーダンス/操作学習2026/8/5
人間のビデオから操作スキルを学習するため、物体中心のアフォーダンスを抽出し、視覚・把握・軌道のアフォーダンスを統合的に生成する大規模視覚言語モデルを提案した。
- Neural Introspection Gating for Adaptive KV-Cache Reuse in Vision-Language-Action Models2026/8/1
- VLAff: Vision-Language-Affordance Model for Unified Actionable Affordances2026/8/1
- MDIR: A Task-Manifold Impedance Retargeting Method for Contact-Rich Teleoperation2026/7/1
- MEVION: Low-Cost Open-Source Data Collection System for Powerful and High-Speed Dual-Arm Manipulation2026/7/1
- WARL: Wrench-Augmented Reinforcement Learning for Task-Agnostic Learning in Legged Robots2026/7/1
- TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation2026/7/1
- EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning2026/5/1
- Self-assembling Modular Aerial Robot for Versatile Aerial Tasks2026/5/1
- WiXus: A Wheeled-Legged Robot with Wire-Driven Environmental Utilizing to Integrate Mobility and Manipulation2026/5/1
- Exploring the proprioceptive potential of joint receptors using a biomimetic robotic joint2026/4/1
- MEVIUS2: Practical Open-Source Quadruped Robot with Sheet Metal Welding and Multimodal Perception2026/3/1
- Dexterous grasp data augmentation based on grasp synthesis with fingertip workspace cloud and contact-aware sampling2026/3/1
- Characteristics, Management, and Utilization of Muscles in Musculoskeletal Humanoids: Empirical Study on Kengoro and Musashi2026/2/1
- Analysis of Various Manipulator Configurations Based on Multi-Objective Black-Box Optimization2026/1/1
- REWW-ARM -- Remote Wire-Driven Mobile Robot: Design, Control, and Experimental Validation2025/12/1
- Efficient Robot Design with Multi-Objective Black-Box Optimization and Large Language Models2025/11/1
- M3D-skin: Multi-material 3D-printed Tactile Sensor with Hierarchical Infill Structures for Pressure Sensing2025/10/1
- A Universal Wire Testing Machine for Enhancing the Performance of Wire-Driven Robots2025/9/1
- Design and Development of a Remotely Wire-Driven Walking Robot2025/9/1
- Flexible Morphing Aerial Robot with Inflatable Structure for Perching-based Human-Robot Interaction2025/9/1
- MEVITA: Open-Source Bipedal Robot Assembled from E-Commerce Components via Sheet Metal Welding2025/8/1
- An RGB-D Camera-Based Multi-Small Flying Anchors Control for Wire-Driven Robots Connecting to the Environment2025/8/1
- KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing2025/7/1
- Design Optimization of Three-Dimensional Wire Arrangement Considering Wire Crossings for Tendon-driven Robots2025/7/1
- DIJE: Dense Image Jacobian Estimation for Robust Robotic Self-Recognition and Visual Servoing2025/7/1
- PIMBS: Efficient Body Schema Learning for Musculoskeletal Humanoids with Physics-Informed Neural Networks2025/6/1
- Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface2025/5/1
- Development of a Five-Fingerd Biomimetic Soft Robotic Hand by 3D Printing the Skin and Skeleton as One Unit2025/3/1
- Stability Recognition with Active Vibration for Bracing Behaviors and Motion Extensions Using Environment in Musculoskeletal Humanoids2025/2/1
- Exceeding the Maximum Speed Limit of the Joint Angle for the Redundant Tendon-driven Structures of Musculoskeletal Humanoids2025/2/1
- Applications of Stretch Reflex for the Upper Limb of Musculoskeletal Humanoids: Protective Behavior, Postural Stability, and Active Induction2025/2/1
- Online Learning of Danger Avoidance for Complex Structures of Musculoskeletal Humanoids and Its Applications2025/2/1
- Reflex-based Motion Strategy of Musculoskeletal Humanoids under Environmental Contact Using Muscle Relaxation Control2025/2/1
- Design Optimization of Musculoskeletal Humanoids with Maximization of Redundancy to Compensate for Muscle Rupture2025/2/1
- Front Hair Styling Robot System Using Path Planning for Root-Centric Strand Adjustment2025/1/1
- Design of a Five-Fingered Hand with Full-Fingered Tactile Sensors Using Conductive Filaments and Its Application to Bending after Insertion Motion2024/12/1
- Environmentally Adaptive Control Including Variance Minimization Using Stochastic Predictive Network with Parametric Bias: Application to Mobile Robots2024/12/1
- Task-specific Self-body Controller Acquisition by Musculoskeletal Humanoids: Application to Pedal Control in Autonomous Driving2024/12/1
- Modification of muscle antagonistic relations and hand trajectory on the dynamic motion of Musculoskeletal Humanoid2024/12/1
- Adaptive Body Schema Learning System Considering Additional Muscles for Musculoskeletal Humanoids2024/11/1
- Self-Body Image Acquisition and Posture Generation with Redundancy using Musculoskeletal Humanoid Shoulder Complex for Object Manipulation2024/11/1
- Motion Modification Method of Musculoskeletal Humanoids by Human Teaching Using Muscle-Based Compensation Control2024/11/1
- Vlimb: A Wire-Driven Wearable Robot for Bodily Extension, Balancing Powerfulness and Reachability2024/11/1
- Fundamental Three-Dimensional Configuration of Wire-Wound Muscle-Tendon Complex Drive2024/11/1
- Remote Life Support Robot Interface System for Global Task Planning and Local Action Expansion Using Foundation Models2024/11/1
- Integrative Wrapping System for a Dual-Arm Humanoid Robot2024/11/1
- Real-World Cooking Robot System from Recipes Based on Food State Recognition Using Foundation Models and PDDL2024/10/1
- CubiXMusashi: Fusion of Wire-Driven CubiX and Musculoskeletal Humanoid Musashi toward Unlimited Performance2024/10/1
- CubiX: Portable Wire-Driven Parallel Robot Connecting to and Utilizing the Environment2024/10/1
- Robotic State Recognition with Image-to-Text Retrieval Task of Pre-Trained Vision-Language Model and Black-Box Optimization2024/10/1
- Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems2024/10/1
- A Robot Kinematics Model Estimation Using Inertial Sensors for On-Site Building Robotics2024/10/1
- Design Method of a Kangaroo Robot with High Power Legs and an Articulated Soft Tail2024/10/1
- Patterned Structure Muscle : Arbitrary Shaped Wire-driven Artificial Muscle Utilizing Anisotropic Flexible Structure for Musculoskeletal Robots2024/10/1
- Construction of Musculoskeletal Simulation for Shoulder Complex with Ligaments and Its Validation via Model Predictive Control2024/10/1
- MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining2024/9/1
- GeMuCo: Generalized Multisensory Correlational Model for Body Schema Learning2024/9/1
- Robotic Environmental State Recognition with Pre-Trained Vision-Language Models and Black-Box Optimization2024/9/1
- Dynamic Cloth Manipulation Considering Variable Stiffness and Material Change Using Deep Predictive Model with Parametric Bias2024/9/1
- Human-mimetic binaural ear design and sound source direction estimation for task realization of musculoskeletal humanoids2024/9/1
- Antagonist Inhibition Control in Redundant Tendon-driven Structures Based on Human Reciprocal Innervation for Wide Range Limb Motion of Musculoskeletal Humanoids2024/9/1
- Automatic Grouping of Redundant Sensors and Actuators Using Functional and Spatial Connections: Application to Muscle Grouping for Musculoskeletal Humanoids2024/9/1
- Robot Design Optimization with Rotational and Prismatic Joints using Black-Box Multi-Objective Optimization2024/9/1
- Reflex-Based Open-Vocabulary Navigation without Prior Knowledge Using Omnidirectional Camera and Multiple Vision-Language Models2024/8/1
- Behavioral Learning of Dish Rinsing and Scrubbing based on Interruptive Direct Teaching Considering Assistance Rate2024/8/1
- Human Mimetic Forearm Design with Radioulnar Joint using Miniature Bone-Muscle Modules and Its Applications2024/8/1
- Object Recognition, Dynamic Contact Simulation, Detection, and Control of the Flexible Musculoskeletal Hand Using a Recurrent Neural Network with Parametric Bias2024/7/1
- Imitation Learning with Additional Constraints on Motion Style using Parametric Bias2024/7/1
- Adaptive Robotic Tool-Tip Control Learning Considering Online Changes in Grasping State2024/7/1
- Estimation and Control of Motor Core Temperature with Online Learning of Thermal Model Parameters: Application to Musculoskeletal Humanoids2024/7/1
- Stable Tool-Use with Flexible Musculoskeletal Hands by Learning the Predictive Model of Sensor State Transition2024/6/1
- Musculoskeletal AutoEncoder: A Unified Online Acquisition Method of Intersensory Networks for State Estimation, Control, and Simulation of Musculoskeletal Humanoids2024/6/1
- Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software2024/6/1
- CoverLib: Classifiers-equipped Experience Library by Iterative Problem Distribution Coverage Maximization for Domain-tuned Motion Planning2024/5/1
- Online Learning Feedback Control Considering Hysteresis for Musculoskeletal Structures2024/5/1
- Robotic Constrained Imitation Learning for the Peg Transfer Task in Fundamentals of Laparoscopic Surgery2024/5/1
- Adaptive Whole-body Robotic Tool-use Learning on Low-rigidity Plastic-made Humanoids Using Vision and Tactile Sensors2024/5/1
- Self-Supervised Learning of Visual Servoing for Low-Rigidity Robots Considering Temporal Body Changes2024/5/1
- Learning of Balance Controller Considering Changes in Body State for Musculoskeletal Humanoids2024/5/1
- BEATLE -- Self-Reconfigurable Aerial Robot: Design, Control and Experimental Validation2024/4/1
- Designing Fluid-Exuding Cartilage for Biomimetic Robots Mimicking Human Joint Lubrication Function2024/4/1
- Body Design and Gait Generation of Chair-Type Asymmetrical Tripedal Low-rigidity Robot2024/4/1
- Deep Predictive Model Learning with Parametric Bias: Handling Modeling Difficulties and Temporal Model Changes2024/4/1
- TWIMP: Two-Wheel Inverted Musculoskeletal Pendulum as a Learning Control Platform in the Real World with Environmental Physical Contact2024/4/1
- A Method of Joint Angle Estimation Using Only Relative Changes in Muscle Lengths for Tendon-driven Humanoids with Complex Musculoskeletal Structures2024/4/1
- Online Self-body Image Acquisition Considering Changes in Muscle Routes Caused by Softness of Body Tissue for Tendon-driven Musculoskeletal Humanoids2024/4/1
- Long-time Self-body Image Acquisition and its Application to the Control of Musculoskeletal Structures2024/4/1
- Online Learning of Joint-Muscle Mapping Using Vision in Tendon-driven Musculoskeletal Humanoids2024/4/1
- Development of Musculoskeletal Legs with Planar Interskeletal Structures to Realize Human Comparable Moving Function2024/4/1
- Realization of Seated Walk by a Musculoskeletal Humanoid with Buttock-Contact Sensors From Human Constrained Teaching2024/4/1
- High-Power, Flexible, Robust Hand: Development of Musculoskeletal Hand Using Machined Springs and Realization of Self-Weight Supporting Motion with Humanoid2024/3/1
- Continuous Jumping of a Parallel Wire-Driven Monopedal Robot RAMIEL Using Reinforcement Learning2024/3/1
- Hardware Design and Learning-Based Software Architecture of Musculoskeletal Wheeled Robot Musashi-W for Real-World Applications2024/3/1
- Five-fingered Hand with Wide Range of Thumb Using Combination of Machined Springs and Variable Stiffness Joints2024/3/1
- SAQIEL: Ultra-Light and Safe Manipulator with Passive 3D Wire Alignment Mechanism2024/3/1
- Design, Control, and Motion Strategy for DELTA: Transformable Multilink Multirotor for Air-Ground Hybrid Locomotion and Manipulation2024/3/1
- Continuous Object State Recognition for Cooking Robots Using Pre-Trained Vision-Language Models and Black-box Optimization2024/3/1
- Learning-Based Wiping Behavior of Low-Rigidity Robots Considering Various Surface Materials and Task Definitions2024/3/1
- Design Optimization of Wire Arrangement with Variable Relay Points in Numerical Simulation for Tendon-driven Robots2024/1/1
- Daily Assistive View Control Learning of Low-Cost Low-Rigidity Robot via Large-Scale Vision-Language Model2023/12/1
- RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping2023/11/1
- Binary State Recognition by Robots using Visual Question Answering of Pre-Trained Vision-Language Model2023/10/1
- Recognition of Heat-Induced Food State Changes by Time-Series Use of Vision-Language Model for Cooking Robot2023/9/1
- Daily Assistive Modular Robot Design Based on Multi-Objective Black-Box Optimization2023/9/1
- Development of a Whole-body Work Imitation Learning System by a Biped and Bi-armed Humanoid2023/9/1
- Semantic Scene Difference Detection in Daily Life Patroling by Mobile Robots using Pre-Trained Large-Scale Vision-Language Model2023/9/1
- Automatic Diary Generation System including Information on Joint Experiences between Humans and Robots2023/9/1
- A method for Selecting Scenes and Emotion-based Descriptions for a Robot's Diary2023/9/1
- HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation2023/9/1
- Foundation Model based Open Vocabulary Task Planning and Executive System for General Purpose Service Robots2023/8/1
- Online Estimation of Self-Body Deflection With Various Sensor Data Based on Directional Statistics2023/6/1
- Robotic Applications of Pre-Trained Vision-Language Models to Various Recognition Behaviors2023/3/1
- Design and Control of a Small Humanoid Equipped with Flight Unit and Wheels for Multimodal Locomotion2023/3/1
- VQA-based Robotic State Recognition Optimized with Genetic Algorithm2023/3/1
- Sensing and Navigation of Aerial Robot for Measuring Tree Location and Size in Forest Environment2023/2/1
- Singularity-free Aerial Deformation by Two-dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller2021/1/1
- Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs2020/11/1
- Versatile Multilinked Aerial Robot with Tilting Propellers: Design, Modeling, Control and State Estimation for Autonomous Flight and Manipulation2020/8/1
- 3D Object Segmentation for Shelf Bin Picking by Humanoid with Deep Learning and Occupancy Voxel Grid Map2020/1/1
- Instance Segmentation of Visible and Occluded Regions for Finding and Picking Target from a Pile of Objects2020/1/1
- Joint Learning of Instance and Semantic Segmentation for Robotic Pick-and-Place with Heavy Occlusions in Clutter2020/1/1
- Probabilistic 3D Multilabel Real-time Mapping for Multi-object Manipulation2020/1/1
- Analysis and Observations from the First Amazon Picking Challenge2016/1/1
- Experience-Based Planning with Sparse Roadmap Spanners2014/10/1