Thomas Westfechtel — accepted AI-conference papers

2026

Unsupervised Domain Adaptation for Robust Imitation Learning under Visual Perturbations

Yasuhiro Kato, Thomas Westfechtel, Jen-Yen Chang, Naoki Morihira, Akinobu Hayashi, Tatsuya Harada +1

ICRA 2026poster

Vision-based robot manipulation systems often suffer from performance degradation under domain shifts in visual inputs. While data augmentation is commonly employed in reinforcement learning, its application in imitation learning remains relatively underexplored. Our preliminary experiments indicate…

Cited by 0 Scholar ↗

2025

A Theory of Learning Unified Model via Knowledge Integration from Label Space Varying Domains

Dexuan Zhang, Thomas Westfechtel, Tatsuya Harada

CVPR 2025poster

Existing domain adaptation systems can hardly be applied to real-world problems with new classes presenting at deployment time, especially regarding source-free scenarios where multiple source domains do not share the label space despite being given a few labeled target data. To address this, we con…

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2024

Open-set Domain Adaptation via Joint Error based Multi-class Positive and Unlabeled Learning

Dexuan Zhang*, Thomas Westfechtel, Tatsuya Harada

ECCV 2024poster

"Open-set domain adaptation aims to improve the generalization performance of a learning algorithm on a more realistic problem of open-set domain shift where the target data contains an additional unknown class that is not present in the source data. Most existing algorithms include two phases that…

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2021

Semantic Mapping of Construction Site From Multiple Daily Airborne LiDAR Data

Thomas Westfechtel, Kazunori Ohno, Tetsu Akegawa, Kento Yamada, Ranulfo Plutarco Bezerra Neto, Shotaro Kojima +9

RA-L 2021

Semantic maps are an important tool to provide robots with high-level knowledge about the environment, enabling them to better react to and interact with their surroundings. However, as a single measurement of the environment is solely a snapshot of a specific time, it does not necessarily reflect t

Cited by 9 Source ↗Scholar ↗

2020

Prediction of Backhoe Loading Motion via the Beta-Process Hidden Markov Model

Kento Yamada, Kazunori Ohno, Ryunosuke Hamada, Thomas Westfechtel, Ranulfo Plutarco Bezerra Neto, Naoto Miyamoto +7

IROS 2020poster

Backhoe loads sediment onto the bed of dump trucks during earthmoving work. The prediction of backhoe loading time is essential for ensuring safe cooperation between the backhoe and dump trucks. However, it is difficult to predict the instant at which the backhoe is ready to load sediment, because o…

Cited by 9 Source ↗Scholar ↗

2020

Stable Autonomous Spiral Stair Climbing of Tracked Vehicles Using Wall Reaction Force

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Thomas Westfechtel, Satoshi Tadokoro

RA-L 2020

In this letter, an autonomous spiral stair climbing method for tracked vehicles using the reaction force from side walls has been proposed. Spiral stairs are one of the most difficult terrains for tracked vehicles because of their asymmetrical ground shape and small turning radius. Tracked vehicles

Cited by 4 Source ↗Scholar ↗

2020

Wall Deadlock Evasion Control Based on Rotation Radius Adjustment

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Yoshito Okada, Thomas Westfechtel, Satoshi Tadokoro

RA-L 2020

This letter describes a wall deadlock evasion method for tracked vehicles. Wall deadlock is a phenomenon where the robot cannot rotate to the commanded direction when it collides with a wall, because the motion is restricted by the wall. The key idea behind solving this problem involves an adjustmen

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2018

Parking Spot Estimation and Mapping Method for Mobile Robots

Thomas Westfechtel, Kazunori Ohno, Naoki Mizuno, Ryunosuke Hamada, Shotaro Kojima, Satoshi Tadokoro

RA-L 2018

Self-driving vehicles rely on detailed semantic maps of the environment for operating. In this letter, we propose a method to autonomously generate such a semantic map enriched with knowledge of parking spot locations. Our method detects and uses parked vehicles in the surroundings to estimate parki

Cited by 3 Source ↗Scholar ↗

2016

3D graph based stairway detection and localization for mobile robots

Thomas Westfechtel, Kazunori Ohno, Bärbel Mertsching, Daniel Nickchen, Shotaro Kojima, Satoshi Tadokoro

IROS 2016poster

Perception is the main key in enabling robots to react to and interact with their environment. Particularly, for multi-floor operations, the robot must robustly detect and localize stairs to allow for safe climbing. In this paper, we develop a graph-based stairway detection method for point cloud da…

Cited by 35 Source ↗Scholar ↗

2016

Motion control of tracked vehicle based on contact force model

Shotaro Kojima, Kazunori Ohno, Takahiro Suzuki, Thomas Westfechtel, Yoshito Okada, Satoshi Tadokoro

IROS 2016poster

In large industrial plants, the inspection of production lines is a heavy and costly task that puts human inspectors at high risk. In order to overcome these challenges, we have developed an autonomous plant inspection system using a mobile tracked vehicle. In this paper, we propose an autonomous na…

Cited by 12 Source ↗Scholar ↗