Takumi Hachimine

2 accepted papers

2025

Cutting Sequence Diffuser: Sim-to-Real Transferable Planning for Object Shaping by Grinding

Takumi Hachimine, Jun Morimoto, Takamitsu Matsubara

RA-L 2025

Automating object shaping by grinding with a robot is a crucial industrial process that involves removing material with a rotating grinding belt. This process generates removal resistance depending on such process conditions as material type, removal volume, and robot grinding posture, all of which

Cited by 0 Source ↗Scholar ↗

2023

Learning to Shape by Grinding: Cutting-Surface-Aware Model-Based Reinforcement Learning

Takumi Hachimine, Jun Morimoto, Takamitsu Matsubara

RA-L 2023

Object shaping by grinding is a crucial industrial process in which a rotating grinding belt removes material. Object-shape transition models are essential to achieving automation by robots; however, learning such a complex model that depends on process conditions is challenging because it requires

Cited by 9 Source ↗Scholar ↗