Tetsuya Ogata 研究室

主宰者：Tetsuya Ogata

早稲田大学

AI 要約（直近 5 年の研究成果）

本研究室は、ロボットが人間らしく環境に適応する知能を実現することを目指しています。特に、ロボットの動作生成に焦点を当て、センサー情報（視覚、触覚、固有感覚など）を統合的に処理する深層学習モデルを開発しています。複数のセンサーから得られる情報の中から、タスクの段階や対象物の状態に応じて重要な情報を選別する注意機構を備えたニューラルネットワークにより、不確実な環境下でもロボットが柔軟に行動を生成できるようにしています。物体操作の領域では、変形する対象物や透明な物体、複数の指を用いた巧妙な操作など、現実世界の多様なタスクに対応する技術を追求しています。視覚情報から力の特性を学習する方法や、触覚センサーから得た接触状態を軸に動作モードを切り替える仕組みなど、実世界の複雑性に対処する工夫が重ねられています。また、大規模言語モデルと組み合わせることで、曖昧な作業指示を明確化し、より詳細で実行可能な動作計画を立てる研究も進めています。さらに、単なる運動生成にとどまらず、ロボットが予測に基づいて行動を生成し、失敗から回復する「再試行」といった、人間的な適応行動の出現を促す学習方法にも取り組んでいます。こうした研究を通じて、介護支援や日常生活における協働作業など、社会的価値の高いロボット応用の実現を目指しています。

※ AI（Claude）が、公開されている論文要旨から研究の問い・手法・主要な発見を事実情報として抽出・再構成して自動生成しています。誤りを含む可能性があるため、正確性は研究室公式情報でご確認ください。

外部リンク

研究成果（91 件）

[2025] Developing a Framework for Natural Human Movement Mimicry of Low-Dynamic Motions in Mobile-Based Humanoids
DOI: https://doi.org/10.1109/sii59315.2025.10870987
[2025] Deep Predictive Learning with Proprioceptive and Visual Attention for Humanoid Robot Repositioning Assistance
DOI: https://doi.org/10.1109/iros60139.2025.11246394
[2025] UF-RNN: Real-Time Adaptive Motion Generation Using Uncertainty-Driven Foresight Prediction
DOI: https://doi.org/10.1109/iros60139.2025.11245661
[2025] Interactive Object Detection by Mitigating Uncertainty of Robot Task Plans using Large Language Model
DOI: https://doi.org/10.1109/iros60139.2025.11246834
[2025] Learning Multimodal Attention for Manipulating Deformable Objects with Changing States
DOI: https://doi.org/10.1109/humanoids65713.2025.11203083
[2025] A <sup>3</sup> RNN: Bi-directional Fusion of Bottom-up and Top-down Process for Developmental Visual Attention in Robots
DOI: https://doi.org/10.1109/icdl63968.2025.11204426
[2025] Performance of Large Language Models and Analysis of Responses in the Wisconsin Card Sorting Task
DOI: https://doi.org/10.1109/icdl63968.2025.11204408
[2025] Focused Blind Switching Manipulation Based on Constrained and Regional Touch States of Multi-Fingered Hand Using Deep Learning
DOI: https://doi.org/10.1109/icra55743.2025.11127786
[2025] Autonomous dialogue generation based on phase boundary detection within continuous motion for domestic robot
DOI: https://doi.org/10.1109/ro-man63969.2025.11217569
[2025] Future shapes present: autonomous goal-directed and sensory-focused mode switching in a Bayesian allostatic network model
DOI: https://doi.org/10.1038/s44260-025-00046-y

続きを表示（残り 81 件）

[2025] ForceMapping: learning visual-force features from vision for soft objects manipulation
DOI: https://doi.org/10.1080/01691864.2025.2483929
[2025] Enhancement of long-horizon task planning via active and passive modification in large language models
DOI: https://doi.org/10.1038/s41598-025-91448-4
[2025] Multifingered Object Recognition with Tactile Sensors and Graph Convolutional Networks using Topological Graph Segmentation
DOI: https://doi.org/10.1109/sii59315.2025.10870913
[2025] Deformation Analysis and Prediction of Drop-Stitch Reinforced Inflatable Robot Link for 1DOF and 2DOF Motion
DOI: https://doi.org/10.1109/sii59315.2025.10871051
[2025] Computational Simulation of Wisconsin Card Sorting Task by using Variational Recurrent Neural Network based on the free energy principle
DOI: https://doi.org/10.1109/sii59315.2025.10870956
[2025] Predicting human behavior using knowledge information in jig operation and robot collaborative action generation
DOI: https://doi.org/10.1109/sii59315.2025.10870593
[2025] Teleoperation Experience Like VR Games: Generating Object-Grasping Motions Based on Predictive Learning
DOI: https://doi.org/10.1109/sii59315.2025.10871111
[2024] Real-Time Motion Generation and Data Augmentation for Grasping Moving Objects with Dynamic Speed and Position Changes
DOI: https://doi.org/10.1109/sii58957.2024.10417201
[2024] Interactively Robot Action Planning with Uncertainty Analysis and Active Questioning by Large Language Model
DOI: https://doi.org/10.1109/sii58957.2024.10417267
[2024] Generating Long-Horizon Task Actions by Leveraging Predictions of Environmental States
DOI: https://doi.org/10.1109/sii58957.2024.10417574
[2024] Automatic Segmentation of Continuous Time-Series Data Based on Prediction Error Using Deep Predictive Learning
DOI: https://doi.org/10.1109/sii58957.2024.10417704
[2024] Using Edge Information and Multi-Threaded Graph Convolutional Networks Object Characteristic Recognition of Multi-fingered Robot Hand
DOI: https://doi.org/10.1299/jsmermd.2024.1a1-o07
[2024] Simultaneous recognition of multiple similar objects with tactile information and their 3D coordinates captured locally
DOI: https://doi.org/10.1299/jsmermd.2024.1a1-o08
[2024] Dual-arm cooperative motion based on multimodal information using a hierarchical deep predictive learning model for dual arms
DOI: https://doi.org/10.1299/jsmermd.2024.2p2-j04
[2024] Towards robots that coexist and coevolve alongside human beings
DOI: https://doi.org/10.1299/jsmermd.2024.1p2-d01
[2024] 触覚フィードバックを用いた複数動作切り替えによる巧みな操り動作の実現
DOI: https://doi.org/10.1299/jsmermd.2024.1p1-i05
[2024] Development of a Dual-arm Inflatable Robot
DOI: https://doi.org/10.1299/jsmermd.2024.2a2-p10
[2024] Human-finger-shaped Optical Sensor for Enhanced Dexterity in Manipulation
DOI: https://doi.org/10.1299/jsmermd.2024.1p1-q09
[2024] 3D Space Perception via Disparity Learning Using Stereo Images and an Attention Mechanism: Real-Time Grasping Motion Generation for Transparent Objects
DOI: https://doi.org/10.1109/lra.2024.3497663
[2024] Sensorimotor Attention and Language-based Regressions in Shared Latent Variables for Integrating Robot Motion Learning and LLM
DOI: https://doi.org/10.1109/iros58592.2024.10802349
[2024] Multi-Fingered Dragging of Unknown Objects and Orientations Using Distributed Tactile Information Through Vision-Transformer and LSTM
DOI: https://doi.org/10.1109/iros58592.2024.10802283
[2024] Real-time Coordinated Motion Generation: A Hierarchical Deep Predictive Learning Model for Bimanual Tasks
DOI: https://doi.org/10.1109/iros58592.2024.10801317
[2024] Special issue on real-world robot applications of the foundation models
DOI: https://doi.org/10.1080/01691864.2024.2408066
[2024] Visual Imitation Learning of Non-Prehensile Manipulation Tasks with Dynamics-Supervised Models
DOI: https://doi.org/10.1109/case59546.2024.10711321
[2024] Augmenting Compliance With Motion Generation Through Imitation Learning Using Drop-Stitch Reinforced Inflatable Robot Arm With Rigid Joints
DOI: https://doi.org/10.1109/lra.2024.3446270
[2024] Bridging the gap between AI and robotics
DOI: https://doi.org/10.1038/s44287-024-00079-w
[2024] Retry-behavior Emergence for Robot-Motion Learning Without Teaching and Subtask Design
DOI: https://doi.org/10.1109/aim55361.2024.10637106
[2024] Work Tempo Instruction Framework for Balancing Human Workload and Productivity in Repetitive Task
DOI: https://doi.org/10.1145/3610978.3640756
[2024] Tactile Object Property Recognition Using Geometrical Graph Edge Features and Multi-Thread Graph Convolutional Network
DOI: https://doi.org/10.1109/lra.2024.3367271
[2023] Uncertainty-Aware Haptic Shared Control With Humanoid Robots for Flexible Object Manipulation
DOI: https://doi.org/10.1109/lra.2023.3306668
[2023] Hierarchical Variational Recurrent Neural Network Modeling of Sensory Attenuation with Temporal Delay in Action-Outcome
DOI: https://doi.org/10.1109/icdl55364.2023.10364405
[2023] Embodied Question Answering Multi-Step Ahead Image Prediction with Mixture of Experts for Embodied Question Answering
DOI: https://doi.org/10.1299/jsmermd.2023.2a1-h03
[2023] Modality Attention for Prediction-Based Robot Motion Generation: Improving Interpretability and Robustness of Using Multi-Modality
DOI: https://doi.org/10.1109/lra.2023.3327654
[2023] Force Map: Learning to Predict Contact Force Distribution from Vision
DOI: https://doi.org/10.1109/iros55552.2023.10342092
[2023] Automatic Action Space Curriculum Learning with Dynamic Per-Step Masking
DOI: https://doi.org/10.1109/case56687.2023.10260397
[2023] Structured Motion Generation with Predictive Learning: Proposing Subgoal for Long-Horizon Manipulation
DOI: https://doi.org/10.1109/icra48891.2023.10161046
[2023] Multimodal Time Series Learning of Robots Based on Distributed and Integrated Modalities: Verification with a Simulator and Actual Robots
DOI: https://doi.org/10.1109/icra48891.2023.10161223
[2023] Learning-based collision-free planning on arbitrary optimization criteria in the latent space through cGANs
DOI: https://doi.org/10.1080/01691864.2023.2180327
[2023] Visual Spatial Attention and Proprioceptive Data-Driven Reinforcement Learning for Robust Peg-in-Hole Task Under Variable Conditions
DOI: https://doi.org/10.1109/lra.2023.3243526
[2023] A 6-DOF Inflatable Manipulator:
DOI: https://doi.org/10.1299/jsmermd.2023.2a2-h18
[2023] Faster Multi-DoF Robot Optimal Path Planning Using Latent Space of GANs with Comparison of Optimization Algorithms
DOI: https://doi.org/10.1299/jsmermd.2023.2a1-h02
[2023] Motion Generation of Multiple Tasks by Sharing the Object Features
DOI: https://doi.org/10.1299/jsmermd.2023.2a1-h05
[2023] Multi-Fingered Dragging of Unknown Objects and Orientations Using Distributed Tactile Information Through Vision-Transformer and LSTM
DOI: https://doi.org/10.1299/jsmermd.2023.1a2-f20
[2023] Generation of Towel-Grasping Motion for Humanoid Robots by Deep Predictive Learning using Bilateral Controller
DOI: https://doi.org/10.1299/jsmermd.2023.2a1-h04
[2022] Improvement of interpretability and noise robustness of deep predictive learning by modality attention
DOI: https://doi.org/10.1299/jsmermd.2022.2a2-h11
[2022] Tactile Transfer Learning and Object Recognition With a Multifingered Hand Using Morphology Specific Convolutional Neural Networks
DOI: https://doi.org/10.1109/tnnls.2022.3215723
[2022] Use of Action Label in Deep Predictive Learning for Robot Manipulation
DOI: https://doi.org/10.1109/iros47612.2022.9982091
[2022] Guided Visual Attention Model Based on Interactions Between Top-down and Bottom-up Prediction for Robot Pose Prediction
DOI: https://doi.org/10.1109/iecon49645.2022.9969015
[2022] Deep Active Visual Attention for Real-Time Robot Motion Generation: Emergence of Tool-Body Assimilation and Adaptive Tool-Use
DOI: https://doi.org/10.1109/lra.2022.3187614
[2022] Robot Task Learning With Motor Babbling Using Pseudo Rehearsal
DOI: https://doi.org/10.1109/lra.2022.3187517
[2022] Emergence of sensory attenuation based upon the free-energy principle
DOI: https://doi.org/10.1038/s41598-022-18207-7
[2022] Learning Bidirectional Translation Between Descriptions and Actions With Small Paired Data
DOI: https://doi.org/10.1109/lra.2022.3196159
[2022] Time Pressure Based Human Workload and Productivity Compatible System for Human-Robot Collaboration
DOI: https://doi.org/10.1109/case49997.2022.9926685
[2022] Point Cloud Pre-training with Natural 3D Structures
DOI: https://doi.org/10.1109/cvpr52688.2022.02060
[2022] Contact-Rich Manipulation of a Flexible Object based on Deep Predictive Learning using Vision and Tactility
DOI: https://doi.org/10.1109/icra46639.2022.9811940
[2022] Integrated Learning of Robot Motion and Sentences: Real-Time Prediction of Grasping Motion and Attention based on Language Instructions
DOI: https://doi.org/10.1109/icra46639.2022.9811815
[2022] Efficient multitask learning with an embodied predictive model for door opening and entry with whole-body control
DOI: https://doi.org/10.1126/scirobotics.aax8177
[2022] Special issue on symbol emergence in robotics and cognitive systems (II)
DOI: https://doi.org/10.1080/01691864.2022.2042892
[2022] Multi-Fingered In-Hand Manipulation With Various Object Properties Using Graph Convolutional Networks and Distributed Tactile Sensors
DOI: https://doi.org/10.1109/lra.2022.3142417
[2022] Curriculum-based Offline Network Training for Improvement of Peg-in-hole Task Performance for Holes in Concrete
DOI: https://doi.org/10.1109/sii52469.2022.9708766
[2022] Buttoning Task with a Dual-Arm Robot: An Exploratory Study on a Marker-based Algorithmic Method and Marker-less Machine Learning Methods
DOI: https://doi.org/10.1109/sii52469.2022.9708612
[2022] Generating Humanoid Robot Motions based on a Procedural Animation IK Rig Method
DOI: https://doi.org/10.1109/sii52469.2022.9708820
[2022] Sensory-Motor Learning for Simultaneous Control of Motion and Force: Generating Rubbing Motion against Uneven Object
DOI: https://doi.org/10.1109/sii52469.2022.9708852
[2022] Special issue on Symbol Emergence in Robotics and Cognitive Systems (I)
DOI: https://doi.org/10.1080/01691864.2022.2023401
[2022] Deep Predictive Learning: Background and Future Perspective
DOI: https://doi.org/10.7210/jrsj.40.761
[2022] Composition of Robot Motions based on the Concept of Deep Predictive Learning
DOI: https://doi.org/10.7210/jrsj.40.772
[2022] Collision-free Robot Path Planning on Arbitrary Optimization Criteria for Multi-DoF Robot Arms Using cGANs
DOI: https://doi.org/10.1299/jsmermd.2022.2a2-h10
[2021] Development of Mobile Robot Navigation Framework using Operation Based Middleware Model
DOI: https://doi.org/10.1299/jsmermd.2021.1p2-d08
[2021] Utilization of Image/Force/Tactile Sensor Data for Object-Shape-Oriented Manipulation: Wiping Objects With Turning Back Motions and Occlusion
DOI: https://doi.org/10.1109/lra.2021.3136657
[2021] Leveraging Motor Babbling for Efficient Robot Learning
DOI: https://doi.org/10.20965/jrm.2021.p1063
[2021] Tool-Use Model to Reproduce the Goal Situations Considering Relationship Among Tools, Objects, Actions and Effects Using Multimodal Deep Neural Networks
DOI: https://doi.org/10.3389/frobt.2021.748716
[2021] In-air Knotting of Rope using Dual-Arm Robot based on Deep Learning
DOI: https://doi.org/10.1109/iros51168.2021.9635954
[2021] From Anime To Reality: Embodying An Anime Character As A Humanoid Robot
DOI: https://doi.org/10.1145/3411763.3451543
[2021] Binary Neural Network in Robotic Manipulation: Flexible Object Manipulation for Humanoid Robot Using Partially Binarized Auto-Encoder on FPGA
DOI: https://doi.org/10.1109/iros51168.2021.9636825
[2021] The use of ultrasound in central vascular ligation during laparoscopic right-sided colon cancer surgery: technical notes
DOI: https://doi.org/10.1007/s10151-021-02472-1
[2021] Development of a Basic Educational Kit for Robotic System with Deep Neural Networks
DOI: https://doi.org/10.3390/s21113804
[2021] Embodying Pre-Trained Word Embeddings Through Robot Actions
DOI: https://doi.org/10.1109/lra.2021.3067862
[2021] Paradoxical sensory reactivity induced by functional disconnection in a robot model of neurodevelopmental disorder
DOI: https://doi.org/10.1016/j.neunet.2021.01.033
[2021] Object Grasping Motion Generation by Attention Prediction Based on Language Instructions
DOI: https://doi.org/10.1299/jsmermd.2021.1p3-d05
[2021] Linguistic and Behavioral Integrated Learning and Representations for Real Robots
DOI: https://doi.org/10.7210/jrsj.39.417
[2021] Deep Learning-Based Manipulation of a Fabric Bag Zipper using Tactile Sensors
DOI: https://doi.org/10.1299/jsmermd.2021.1p3-d04

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AI 要約（直近 5 年の研究成果）

外部リンク

関連研究室(8 件)

研究成果（91 件）

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所属学会・役職（0 件）