World Robot Challenge 2020 -- Partner Robot: A Data-Driven Approach for Room Tidying with Mobile Manipulator

no code implementations • 20 Jul 2022 • Tatsuya Matsushima, Yuki Noguchi, Jumpei Arima, Toshiki Aoki, Yuki Okita, Yuya Ikeda, Koki Ishimoto, Shohei Taniguchi, Yuki Yamashita, Shoichi Seto, Shixiang Shane Gu, Yusuke Iwasawa, Yutaka Matsuo

Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and robust deployment in the presence of humans. The Partner Robot Challenge in World Robot Challenge (WRC) 2020, a global competition held in September 2021, benchmarked tidying tasks in the real home environments, and importantly, tested for full system performances. For this challenge, we developed an entire household service robot system, which leverages a data-driven approach to adapt to numerous edge cases that occur during the execution, instead of classical manual pre-programmed solutions.

Motion Planning

DNN-based Speech Synthesis Using Abundant Tags of Spontaneous Speech Corpus

no code implementations • LREC 2020 • Yuki Yamashita, Tomoki Koriyama, Yuki Saito, Shinnosuke Takamichi, Yusuke Ijima, Ryo Masumura, Hiroshi Saruwatari

In this paper, we investigate the effectiveness of using rich annotations in deep neural network (DNN)-based statistical speech synthesis.

Speech Synthesis