Yuya Ikeda — accepted AI-conference papers

2024

GenDOM: Generalizable One-shot Deformable Object Manipulation with Parameter-Aware Policy

So Kuroki, Jiaxian Guo, Tatsuya Matsushima, Takuya Okubo, Masato Kobayashi, Yuya Ikeda +4

ICRA 2024poster

Due to the inherent uncertainty in their deformability during motion, previous methods in deformable object manipulation, such as rope and cloth, often required hundreds of real-world demonstrations to train a manipulation policy for each object, which hinders their applications in our ever-changing…

Cited by 2 Source ↗Scholar ↗

2024

Self-Recovery Prompting: Promptable General Purpose Service Robot System with Foundation Models and Self-Recovery

Mimo Shirasaka, Tatsuya Matsushima, Soshi Tsunashima, Yuya Ikeda, Aoi Horo, So Ikoma +6

ICRA 2024poster

A general-purpose service robot (GPSR), which can execute diverse tasks in various environments, requires a system with high generalizability and adaptability to tasks and environments. In this paper, we first developed a top-level GPSR system for worldwide competition (RoboCup@Home2023) based on mu…

Cited by 14 Source ↗Scholar ↗