no code implementations • 26 Oct 2023 • Takuma Yoneda, Tianchong Jiang, Gregory Shakhnarovich, Matthew R. Walter
A core capability for robot manipulation is reasoning over where and how to stably place objects in cluttered environments.
no code implementations • 3 Oct 2023 • Xuefeng Liu, Takuma Yoneda, Rick L. Stevens, Matthew R. Walter, Yuxin Chen
Integral to RPI are Robust Active Policy Selection (RAPS) and Robust Policy Gradient (RPG), both of which reason over whether to perform state-wise imitation from the oracles or learn from its own value function when the learner's performance surpasses that of the oracles in a specific state.
no code implementations • 30 Jun 2023 • Takuma Yoneda, Jiading Fang, Peng Li, Huanyu Zhang, Tianchong Jiang, Shengjie Lin, Ben Picker, David Yunis, Hongyuan Mei, Matthew R. Walter
In this paper, we explore a new dimension in which large language models may benefit robotics planning.
1 code implementation • 17 Jun 2023 • Xuefeng Liu, Takuma Yoneda, Chaoqi Wang, Matthew R. Walter, Yuxin Chen
We introduce MAPS and MAPS-SE, a class of policy improvement algorithms that perform imitation learning from multiple suboptimal oracles.
no code implementations • 23 Feb 2023 • Takuma Yoneda, Luzhe Sun, and Ge Yang, Bradly Stadie, Matthew Walter
Traditional approaches to shared autonomy rely on knowledge of the environment dynamics, a discrete space of user goals that is known a priori, or knowledge of the user's policy -- assumptions that are unrealistic in many domains.
no code implementations • 15 Dec 2021 • Takuma Yoneda, Ge Yang, Matthew R. Walter, Bradly Stadie
A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training.
2 code implementations • 8 Jan 2021 • Takuma Yoneda, Charles Schaff, Takahiro Maeda, Matthew Walter
This report describes our winning submission to the Real Robot Challenge (https://real-robot-challenge. com/).
no code implementations • ICML Workshop LaReL 2020 • Takuma Yoneda, Matthew R. Walter, Jason Naradowsky
In this work we perform a controlled study of human language use in a competitive team-based game, and search for useful lessons for structuring communication protocol between autonomous agents.
no code implementations • WS 2018 • Takuma Yoneda, Jeff Mitchell, Johannes Welbl, Pontus Stenetorp, Sebastian Riedel
In this paper we describe our 2nd place FEVER shared-task system that achieved a FEVER score of 62. 52{\%} on the provisional test set (without additional human evaluation), and 65. 41{\%} on the development set.
no code implementations • 16 Jun 2017 • Takuma Yoneda, Koki Mori, Makoto Miwa, Yutaka Sasaki
We propose a novel embedding model that represents relationships among several elements in bibliographic information with high representation ability and flexibility.
no code implementations • EACL 2017 • Takuma Yoneda, Koki Mori, Makoto Miwa, Yutaka Sasaki
We propose a novel embedding model that represents relationships among several elements in bibliographic information with high representation ability and flexibility.