3 papers indexed
Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe, Kei Okada
Action chunking shortens the effective decision horizon of robot imitation learning by predicting multiple future actions, while conventional phase conditioning describes the current control instant. When a predicted horizon crosses a procedural boundary, assigning the current ph…
Liu Jiahao, Kento Kawaharazuka, Tasuku Makabe, Kei Okada
Fixed Cartesian impedance makes contact-rich teleoperation demonstrations practical, but gains that secure progress and contact support also determine impact and force variability. We study single-demonstration controller-to-controller impedance retargeting. Given one fixed Carte…
Kento Kawaharazuka, Yoshiki Obinata, Hirokazu Ishida, Jihoon Oh, Temma Suzuki, Shintaro Inoue, et al.
The global competition for developing robotic foundation models is intensifying. Among the data collection systems used for dual-arm robots, ALOHA is representative of being low-cost and open-source, and is widely adopted by researchers as a de facto standard. However, due to its…