Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-Body Humanoid. - Gen Endo; Jun Morimoto; Takamitsu Matsubara; Jun Nakanishi; Gordon Cheng (AAAI, 2005)

Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Masa-aki Sato; Kenji Doya (ICRA, 2005)

Learning CPG-based biped locomotion with a policy gradient method. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Masa-aki Sato; Kenji Doya (Robotics Auton. Syst., 2006)

Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Sang-Ho Hyon; Joshua G. Hale; Gordon Cheng (ICRA, 2007)

Learning a dynamic policy by using policy gradient: application to biped walking. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Masa-aki Sato; Kenji Doya (Syst. Comput. Jpn., 2007)

Highly Precise Dynamic Simulation Environment for Humanoid Robots. - Joshua G. Hale; Benjamin Hohl; Sang-Ho Hyon; Takamitsu Matsubara; Eduardo Martin Moraud; Gordon Cheng (Adv. Robotics, 2008)

Learning to Acquire Whole-Body Humanoid Center of Mass Movements to Achieve Dynamic Tasks. - Takamitsu Matsubara; Jun Morimoto; Jun Nakanishi; Sang-Ho Hyon; Joshua G. Hale; Gordon Cheng (Adv. Robotics, 2008)

Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot. - Gen Endo; Jun Morimoto; Takamitsu Matsubara; Jun Nakanishi; Gordon Cheng (Int. J. Robotics Res., 2008)

Learning Basis Representations of Inverse Dynamics Models for Real-Time Adaptive Control. - Yasuhito Horiguchi; Takamitsu Matsubara; Masatsugu Kidode (ICONIP (2), 2010)

Optimal Feedback Control for anthropomorphic manipulators. - Djordje Mitrovic; Sho Nagashima; Stefan Klanke; Takamitsu Matsubara; Sethu Vijayakumar (ICRA, 2010)

Learning Stylistic Dynamic Movement Primitives from multiple demonstrations. - Takamitsu Matsubara; Sang-Ho Hyon; Jun Morimoto (IROS, 2010)

Adaptive Step-size Policy Gradients with Average Reward Metric. - Takamitsu Matsubara; Tetsuro Morimura; Jun Morimoto (ACML, 2010)

An optimal control approach for hybrid actuator system. - Takamitsu Matsubara; Tomoyuki Noda; Sang-Ho Hyon; Jun Morimoto (Humanoids, 2011)

Reinforcement learning of clothing assistance with a dual-arm robot. - Tomoya Tamei; Takamitsu Matsubara; Akshara Rai; Tomohiro Shibata (Humanoids, 2011)

XoR: Hybrid drive exoskeleton robot that can balance. - Sang-Ho Hyon; Jun Morimoto; Takamitsu Matsubara; Tomoyuki Noda; Mitsuo Kawato (IROS, 2011)

Learning Parametric Inverse Dynamics Models from multiple conditions for fast adaptive computed torque control. - Yasuhito Horiguchi; Takamitsu Matsubara; Masatsugu Kidode (ROBIO, 2011)

Learning and adaptation of a Stylistic Myoelectric Interface: EMG-based robotic control with individual user differences. - Takamitsu Matsubara; Sang-Ho Hyon; Jun Morimoto (ROBIO, 2011)

Learning motor skills with non-rigid materials by reinforcement learning. - Daisuke Shinohara; Takamitsu Matsubara; Masatsugu Kidode (ROBIO, 2011)

Learning parametric dynamic movement primitives from multiple demonstrations. - Takamitsu Matsubara; Sang-Ho Hyon; Jun Morimoto (Neural Networks, 2011)

Spatio-temporal synchronization of periodic movements by style-phase adaptation: Application to biped walking. - Takamitsu Matsubara; Akimasa Uchikata; Jun Morimoto (ICRA, 2012)

Full-body exoskeleton robot control for walking assistance by style-phase adaptive pattern generation. - Takamitsu Matsubara; Akimasa Uchikata; Jun Morimoto (IROS, 2012)

Adaptive choreography for user's preferences on personal robots. - Takamitsu Matsubara; Shizuko Matsuzoe; Masatsugu Kidode (RO-MAN, 2012)

Real-time stylistic prediction for whole-body human motions. - Takamitsu Matsubara; Sang-Ho Hyon; Jun Morimoto (Neural Networks, 2012)

Estimation of Human Cloth Topological Relationship using Depth Sensor for Robotic Clothing Assistance. - Nishanth Koganti; Tomoya Tamei; Takamitsu Matsubara; Tomohiro Shibata (AIR, 2013)

Reinforcement learning of a motor skill for wearing a T-shirt using topology coordinates. - Takamitsu Matsubara; Daisuke Shinohara; Masatsugu Kidode (Adv. Robotics, 2013)

Bilinear Modeling of EMG Signals to Extract User-Independent Features for Multiuser Myoelectric Interface. - Takamitsu Matsubara; Jun Morimoto (IEEE Trans. Biomed. Eng., 2013)

Task-adaptive inertial parameter estimation of rigid-body dynamics with modeling error for model-based control using covariate shift adaptation. - Takamitsu Matsubara; Hiroaki Takada; Kenji Sugimoto (AIM, 2014)

Style-phase adaptation of human and humanoid biped walking patterns in real systems. - Takamitsu Matsubara; Daisuke Uto; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto (Humanoids, 2014)

An optimal control approach for exploratory actions in active tactile object recognition. - Daisuke Tanaka; Takamitsu Matsubara; Kenji Sugimoto (Humanoids, 2014)

Object manifold learning with action features for active tactile object recognition. - Daisuke Tanaka; Takamitsu Matsubara; Kentaro Ichien; Kenji Sugimoto (IROS, 2014)

Real-time estimation of Human-Cloth topological relationship using depth sensor for robotic clothing assistance. - Nishanth Koganti; Tomoya Tamei; Takamitsu Matsubara; Tomohiro Shibata (RO-MAN, 2014)

Latent Kullback Leibler Control for Continuous-State Systems using Probabilistic Graphical Models. - Takamitsu Matsubara; Vicenç Gómez; Hilbert J. Kappen (UAI, 2014)

Local Update Dynamic Policy Programming in reinforcement learning of pneumatic artificial muscle-driven humanoid hand control. - Yunduan Cui; Takamitsu Matsubara; Kenji Sugimoto (Humanoids, 2015)

Reinforcement learning of shared control for dexterous telemanipulation: Application to a page turning skill. - Takamitsu Matsubara; Takahiro Hasegawa; Kenji Sugimoto (RO-MAN, 2015)

Sequential intention estimation of a mobility aid user for intelligent navigational assistance. - Takamitsu Matsubara; Jaime Valls Miró; Daisuke Tanaka; James Poon; Kenji Sugimoto (RO-MAN, 2015)

Spatiotemporal synchronization of biped walking patterns with multiple external inputs by style-phase adaptation. - Takamitsu Matsubara; Akimasa Uchikata; Jun Morimoto (Biol. Cybern., 2015)

Dynamic Linear Bellman Combination of Optimal Policies for Solving New Tasks. - Takamitsu Matsubara; Takaya Asakura; Kenji Sugimoto (IEICE Trans. Fundam. Electron. Commun. Comput. Sci., 2015)

Active touch point selection with travel cost in tactile exploration for fast shape estimation of unknown objects. - Takamitsu Matsubara; Kotaro Shibata; Kenji Sugimoto (AIM, 2016)

Data-efficient human training of a care motion controller for human transfer assistant robots using Bayesian optimization. - Takamitsu Matsubara; Yoshihito Funaki; Ming Ding 002; Tsukasa Ogasawara; Kenji Sugimoto (BioRob, 2016)

Latent Kullback-Leibler control for dynamic imitation learning of whole-body behaviors in humanoid robots. - Yuka Ariki; Takamitsu Matsubara; Sang-Ho Hyon (Humanoids, 2016)

Kernel dynamic policy programming: Practical reinforcement learning for high-dimensional robots. - Yunduan Cui; Takamitsu Matsubara; Kenji Sugimoto (Humanoids, 2016)

Environment-adaptive interaction primitives for human-robot motor skill learning. - Yunduan Cui; James Poon; Takamitsu Matsubara; Jaime Valls Miró; Kenji Sugimoto; Kimitoshi Yamazaki (Humanoids, 2016)

Learning assistive strategies from a few user-robot interactions: Model-based reinforcement learning approach. - Masashi Hamaya; Takamitsu Matsubara; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto (ICRA, 2016)

An approach to realistic physical simulation of digitally captured deformable linear objects. - Nahum Álvarez; Kimitoshi Yamazaki; Takamitsu Matsubara (SIMPAR, 2016)

Input-Output Manifold Learning with State Space Models. - Daisuke Tanaka; Takamitsu Matsubara; Kenji Sugimoto (IEICE Trans. Fundam. Electron. Commun. Comput. Sci., 2016)

Model-based reinforcement learning approach for deformable linear object manipulation. - Haifeng Han; Gavin Paul; Takamitsu Matsubara (CASE, 2017)

Hanging work of T-shirt in consideration of deformability and stretchability. - Yosuke Koishihara; Solvi Arnold; Kimitoshi Yamazaki; Takamitsu Matsubara (ICIA, 2017)

Learning task-parametrized assistive strategies for exoskeleton robots by multi-task reinforcement learning. - Masashi Hamaya; Takamitsu Matsubara; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto (ICRA, 2017)

Local driving assistance from demonstration for mobility aids. - James Poon; Yunduan Cui; Jaime Valls Miró; Takamitsu Matsubara; Kenji Sugimoto (ICRA, 2017)

User-robot collaborative excitation for PAM model identification in exoskeleton robots. - Masashi Hamaya; Takamitsu Matsubara; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto (IROS, 2017)

Deep dynamic policy programming for robot control with raw images. - Yoshihisa Tsurumine; Yunduan Cui; Eiji Uchibe; Takamitsu Matsubara (IROS, 2017)

Learning discriminative intention predictors for sit-to-stand assistance. - Yuki Ishikura; Takamitsu Matsubara; Kenji Sugimoto; Yusuke Kato; Tsuyoshi Inoue; Jun Ozawa (SII, 2017)

Kullback Leibler control approach to rubber band manipulation. - Masaki Murase; Kimitoshi Yamazaki; Takamitsu Matsubara (SII, 2017)

Pneumatic artificial muscle-driven robot control using local update reinforcement learning. - Yunduan Cui; Takamitsu Matsubara; Kenji Sugimoto (Adv. Robotics, 2017)

Generation of comfortable lifting motion for a human transfer assistant robot. - Ming Ding 002; Takamitsu Matsubara; Yoshihito Funaki; Ryojun Ikeura; Toshiharu Mukai; Tsukasa Ogasawara (Int. J. Intell. Robotics Appl., 2017)

Kernel dynamic policy programming: Applicable reinforcement learning to robot systems with high dimensional states. - Yunduan Cui; Takamitsu Matsubara; Kenji Sugimoto (Neural Networks, 2017)

Learning assistive strategies for exoskeleton robots from user-robot physical interaction. - Masashi Hamaya; Takamitsu Matsubara; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto (Pattern Recognit. Lett., 2017)

Active tactile exploration with uncertainty and travel cost for fast shape estimation of unknown objects. - Takamitsu Matsubara; Kotaro Shibata (Robotics Auton. Syst., 2017)

Biomechanical Energy Harvester with Continuously Variable Transmission: Prototyping and Preliminary Evaluation. - Yutaro Ikawa; Taisuke Kobayashi; Takamitsu Matsubara (AIM, 2018)

Bayesian Optimisation of Exoskeleton Design Parameters. - Daniel F. N. Gordon; Takamitsu Matsubara; Tomoyuki Noda; Tatsuya Teramae; Jun Morimoto; Sethu Vijayakumar (BioRob, 2018)

Factorial Kernel Dynamic Policy Programming for Vinyl Acetate Monomer Plant Model Control. - Yunduan Cui; Lingwei Zhu; Morihiro Fujisaki; Hiroaki Kanokogi; Takamitsu Matsubara (CASE, 2018)

Probabilistic Pose Estimation of Deformable Linear Objects. - Yujun Lai; James Poon; Gavin Paul; Haifeng Han; Takamitsu Matsubara (CASE, 2018)

Policy Transfer from Simulations to Real World by Transfer Component Analysis. - Takamitsu Matsubara; Yu Norinaga; Yuto Ozawa; Yunduan Cui (CASE, 2018)

Learning Mobility Aid Assistance via Decoupled Observation Models. - James Poon; Yunduan Cui; Jaime Valls Miró; Takamitsu Matsubara (ICARCV, 2018)

Folding Behavior Acquisition of A Shirt Placed on the Chest of a Dual-Arm Robot. - Yaqiang Mo; Takamitsu Matsubara; Kimitoshi Yamazaki (ICIA, 2018)

Learning Deep Dynamical Models of a Waste Incineration Plant from In-furnace Images and Process Data. - Takumi Kaneko; Yoshihisa Tsurumine; James Poon; Yukio Onuki; Yingda Dai; Kaoru Kawabata; Takamitsu Matsubara (CASE, 2019)

Generative Adversarial Imitation Learning with Deep P-Network for Robotic Cloth Manipulation. - Yoshihisa Tsurumine; Yunduan Cui; Kimitoshi Yamazaki; Takamitsu Matsubara (Humanoids, 2019)

Exploiting Human and Robot Muscle Synergies for Human-in-the-loop Optimization of EMG-based Assistive Strategies. - Masashi Hamaya; Takamitsu Matsubara; Jun-ichiro Furukawa; Yuting Sun; Satoshi Yagi; Tatsuya Teramae; Tomoyuki Noda; Jun Morimoto (ICRA, 2019)

Probabilistic Active Filtering for Object Search in Clutter. - James Poon; Yunduan Cui; Junichiro Ooga; Akihito Ogawa; Takamitsu Matsubara (ICRA, 2019)

Multimodal Policy Search using Overlapping Mixtures of Sparse Gaussian Process Prior. - Hikaru Sasaki; Takamitsu Matsubara (ICRA, 2019)

Reinforcement Learning Boat Autopilot: A Sample-efficient and Model Predictive Control based Approach. - Yunduan Cui; Shigeki Osaki; Takamitsu Matsubara (IROS, 2019)

Special issue on artificial intelligence and machine learning for robotic manipulation. - Akihiko Yamaguchi; Takamitsu Matsubara; Nikolaus Vahrenkamp; Oliver Kroemer; Kensuke Harada (Adv. Robotics, 2019)

Environment-adaptive interaction primitives through visual context for human-robot motor skill learning. - Yunduan Cui; James Poon; Jaime Valls Miró; Kimitoshi Yamazaki; Kenji Sugimoto; Takamitsu Matsubara (Auton. Robots, 2019)

Reinforcement Learning Ship Autopilot: Sample-efficient and Model Predictive Control-based Approach. - Yunduan Cui; Shigeki Osaki; Takamitsu Matsubara (CoRR, 2019)

Learning from demonstration for locally assistive mobility aids. - James Poon; Yunduan Cui; Jaime Valls Miró; Takamitsu Matsubara (Int. J. Intell. Robotics Appl., 2019)

Deep reinforcement learning with smooth policy update: Application to robotic cloth manipulation. - Yoshihisa Tsurumine; Yunduan Cui; Eiji Uchibe; Takamitsu Matsubara (Robotics Auton. Syst., 2019)

Contact-based in-hand pose estimation using Bayesian state estimation and particle filtering. - Felix Von Drigalski; Shohei Taniguchi; Robert Lee; Takamitsu Matsubara; Masashi Hamaya; Kazutoshi Tanaka; Yoshihisa Ijiri (ICRA, 2020)

Sample-and-computation-efficient Probabilistic Model Predictive Control with Random Features. - Cheng-Yu Kuo; Yunduan Cui; Takamitsu Matsubara (ICRA, 2020)

Dynamic Actor-Advisor Programming for Scalable Safe Reinforcement Learning. - Lingwei Zhu; Yunduan Cui; Takamitsu Matsubara (ICRA, 2020)

Learning Soft Robotic Assembly Strategies from Successful and Failed Demonstrations. - Masashi Hamaya; Felix von Drigalski; Takamitsu Matsubara; Kazutoshi Tanaka; Robert Lee; Chisato Nakashima; Yoshiya Shibata; Yoshihisa Ijiri (IROS, 2020)

Combining Model Predictive Path Integral with Kalman Variational Auto-encoder for Robot Control from Raw Images. - Yuhwan Kwon; Takumi Kaneko; Yoshihisa Tsurumine; Hikaru Sasaki; Kimiko Motonaka; Seiji Miyoshi; Takamitsu Matsubara (SII, 2020)

Learning Food-arrangement Policies from Raw Images with Generative Adversarial Imitation Learning. - Junki Matsuoka; Yoshihisa Tsurumine; Yuhwan Kwon; Takamitsu Matsubara; Takeshi Shimmura; Sadao Kawamura (UR, 2020)

Probabilistic active filtering with gaussian processes for occluded object search in clutter. - Yunduan Cui; Junichiro Ooga; Akihito Ogawa; Takamitsu Matsubara (Appl. Intell., 2020)

Learning Contact-Rich Manipulation Tasks with Rigid Position-Controlled Robots: Learning to Force Control. - Cristian Camilo Beltran-Hernandez; Damien Petit; Ixchel Georgina Ramirez-Alpizar; Takayuki Nishi; Shinichi Kikuchi; Takamitsu Matsubara; Kensuke Harada (CoRR, 2020)

Ensuring Monotonic Policy Improvement in Entropy-regularized Value-based Reinforcement Learning. - Lingwei Zhu; Takamitsu Matsubara (CoRR, 2020)

Learning Force Control for Contact-Rich Manipulation Tasks With Rigid Position-Controlled Robots. - Cristian Camilo Beltran-Hernandez; Damien Petit; Ixchel Georgina Ramirez-Alpizar; Takayuki Nishi; Shinichi Kikuchi; Takamitsu Matsubara; Kensuke Harada (IEEE Robotics Autom. Lett., 2020)

Exploiting Visual-Outer Shape for Tactile-Inner Shape Estimation of Objects Covered with Soft Materials. - Tomoya Miyamoto; Hikaru Sasaki; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2020)

Bayesian Policy Optimization for Waste Crane With Garbage Inhomogeneity. - Hikaru Sasaki; Terushi Hirabayashi; Kaoru Kawabata; Yukio Onuki; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2020)

Quaternion-Based Trajectory Optimization of Human Postures for Inducing Target Muscle Activation Patterns. - Tatsuya Teramae; Takamitsu Matsubara; Tomoyuki Noda; Jun Morimoto (IEEE Robotics Autom. Lett., 2020)

Robust shape estimation with false-positive contact detection. - Kazuki Shibata; Tatsuya Miyano; Tomohiko Jimbo; Takamitsu Matsubara (Robotics Auton. Syst., 2020)

Geometric Value Iteration: Dynamic Error-Aware KL Regularization for Reinforcement Learning. - Toshinori Kitamura; Lingwei Zhu; Takamitsu Matsubara (ACML, 2021)

Cautious Actor-Critic. - Lingwei Zhu; Toshinori Kitamura; Takamitsu Matsubara (ACML, 2021)

Bayesian Disturbance Injection: Robust Imitation Learning of Flexible Policies. - Hanbit Oh; Hikaru Sasaki; Brendan Michael; Takamitsu Matsubara (ICRA, 2021)

Deep reinforcement learning of event-triggered communication and control for multi-agent cooperative transport. - Kazuki Shibata; Tomohiko Jimbo; Takamitsu Matsubara (ICRA, 2021)

Learning Robotic Contact Juggling. - Kazutoshi Tanaka; Masashi Hamaya; Devwrat Joshi; Felix von Drigalski; Ryo Yonetani; Takamitsu Matsubara; Yoshihisa Ijiri (IROS, 2021)

Innovative technologies for infrastructure construction and maintenance through collaborative robots based on an open design approach. - Keiji Nagatani; Masato Abe; Koichi Osuka; Pang-jo Chun; Takayuki Okatani; Mayuko Nishio; Shota Chikushi; Takamitsu Matsubara; Yusuke Ikemoto; Hajime Asama (Adv. Robotics, 2021)

Cautious Policy Programming: Exploiting KL Regularization in Monotonic Policy Improvement for Reinforcement Learning. - Lingwei Zhu; Toshinori Kitamura; Takamitsu Matsubara (CoRR, 2021)

Design of physical user-robot interactions for model identification of soft actuators on exoskeleton robots. - Masashi Hamaya; Takamitsu Matsubara; Tatsuya Teramae; Tomoyuki Noda; Jun Morimoto (Int. J. Robotics Res., 2021)

Autonomous boat driving system using sample-efficient model predictive control-based reinforcement learning approach. - Yunduan Cui; Shigeki Osaki; Takamitsu Matsubara (J. Field Robotics, 2021)

Variational policy search using sparse Gaussian process priors for learning multimodal optimal actions. - Hikaru Sasaki; Takamitsu Matsubara (Neural Networks, 2021)

Binarized P-Network: Deep Reinforcement Learning of Robot Control from Raw Images on FPGA. - Yuki Kadokawa; Yoshihisa Tsurumine; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2021)

Tactile Perception Based on Injected Vibration in Soft Sensor. - Naoto Komeno; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2021)

Uncertainty-Aware Contact-Safe Model-Based Reinforcement Learning. - Cheng-Yu Kuo; Andreas Schaarschmidt; Yunduan Cui; Tamim Asfour; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2021)

TDE2-MBRL: Energy-exchange Dynamics Learning with Task Decomposition for Spring-loaded Bipedal Robot Locomotion. - Cheng-Yu Kuo; Hirofumi Shin; Takumi Kamioka; Takamitsu Matsubara (Humanoids, 2022)

Gaussian Process Self-triggered Policy Search in Weakly Observable Environments. - Hikaru Sasaki; Terushi Hirabayashi; Kaoru Kawabata; Takamitsu Matsubara (ICRA, 2022)

Disturbance-injected Robust Imitation Learning with Task Achievement. - Hirotaka Tahara; Hikaru Sasaki; Hanbit Oh; Brendan Michael; Takamitsu Matsubara (ICRA, 2022)

Deep Koopman with Control: Spectral Analysis of Soft Robot Dynamics. - Naoto Komeno; Brendan Michael; Katharina Küchler; Edgar Anarossi; Takamitsu Matsubara (SICE, 2022)

Disturbance Suppression in Feedback Error Learning Control. - Atsuki Nagata; Takamitsu Matsubara; Kenji Sugimoto (SICE, 2022)

Variationally Autoencoded Dynamic Policy Programming for Robotic Cloth Manipulation Planning based on Raw Images. - Yoshihisa Tsurumine; Takamitsu Matsubara (SII, 2022)

Task-Relevant Encoding of Domain Knowledge in Dynamics Modeling: Application to Furnace Forecasting From Video. - Brendan Michael; Akifumi Ise; Kaoru Kawabata; Takamitsu Matsubara (IEEE Access, 2022)

User intent estimation during robot learning using physical human robot interaction primitives. - Yujun Lai; Gavin Paul; Yunduan Cui; Takamitsu Matsubara (Auton. Robots, 2022)

Alleviating parameter-tuning burden in reinforcement learning for large-scale process control. - Lingwei Zhu; Go Takami; Mizuo Kawahara; Hiroaki Kanokogi; Takamitsu Matsubara (Comput. Chem. Eng., 2022)

q-Munchausen Reinforcement Learning. - Lingwei Zhu; Zheng Chen 012; Eiji Uchibe; Takamitsu Matsubara (CoRR, 2022)

Enforcing KL Regularization in General Tsallis Entropy Reinforcement Learning via Advantage Learning. - Lingwei Zhu; Zheng Chen 012; Eiji Uchibe; Takamitsu Matsubara (CoRR, 2022)

Learning Locally, Communicating Globally: Reinforcement Learning of Multi-robot Task Allocation for Cooperative Transport. - Kazuki Shibata; Tomohiko Jimbo; Tadashi Odashima; Keisuke Takeshita; Takamitsu Matsubara (CoRR, 2022)

Sample-efficient gear-ratio optimization for biomechanical energy harvester. - Taisuke Kobayashi; Yutaro Ikawa; Takamitsu Matsubara (Int. J. Intell. Robotics Appl., 2022)

Uncertainty-Aware Manipulation Planning Using Gravity and Environment Geometry. - Felix von Drigalski; Kazumi Kasaura; Cristian C. Beltran-Hernandez; Masashi Hamaya; Kazutoshi Tanaka; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2022)

Physically Consistent Preferential Bayesian Optimization for Food Arrangement. - Yuhwan Kwon; Yoshihisa Tsurumine; Takeshi Shimmura; Sadao Kawamura; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2022)

Randomized-to-Canonical Model Predictive Control for Real-World Visual Robotic Manipulation. - Tomoya Yamanokuchi; Yuhwan Kwon; Yoshihisa Tsurumine; Eiji Uchibe; Jun Morimoto; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2022)

Goal-aware generative adversarial imitation learning from imperfect demonstration for robotic cloth manipulation. - Yoshihisa Tsurumine; Takamitsu Matsubara (Robotics Auton. Syst., 2022)

Deep Segmented DMP Networks for Learning Discontinuous Motions. - Edgar Anarossi; Hirotaka Tahara; Naoto Komeno; Takamitsu Matsubara (CASE, 2023)

Domains as Objectives: Multi-Domain Reinforcement Learning with Convex-Coverage Set Learning for Domain Uncertainty Awareness. - Wendyam Eric Lionel Ilboudo; Taisuke Kobayashi; Takamitsu Matsubara (IROS, 2023)

Policy Optimization for Waste Crane Automation From Human Preferences. - Yuhwan Kwon; Hikaru Sasaki; Terushi Hirabayashi; Kaoru Kawabata; Takamitsu Matsubara (IEEE Access, 2023)

Jamming Gripper-Inspired Soft Jig for Perceptive Parts Fixing. - Tatsuya Sakuma; Takuya Kiyokawa; Takamitsu Matsubara; Jun Takamatsu; Takahiro Wada; Tsukasa Ogasawara (IEEE Access, 2023)

Generalized Munchausen Reinforcement Learning using Tsallis KL Divergence. - Lingwei Zhu; Zheng Chen 012; Takamitsu Matsubara; Martha White (CoRR, 2023)

Cyclic policy distillation: Sample-efficient sim-to-real reinforcement learning with domain randomization. - Yuki Kadokawa; Lingwei Zhu; Yoshihisa Tsurumine; Takamitsu Matsubara (Robotics Auton. Syst., 2023)

Deep reinforcement learning of event-triggered communication and consensus-based control for distributed cooperative transport. - Kazuki Shibata; Tomohiko Jimbo; Takamitsu Matsubara (Robotics Auton. Syst., 2023)

Bayesian Disturbance Injection: Robust imitation learning of flexible policies for robot manipulation. - Hanbit Oh; Hikaru Sasaki; Brendan Michael; Takamitsu Matsubara (Neural Networks, 2023)

Multi-step motion learning by combining learning-from-demonstration and policy-search. - Yaqiang Mo; Hikaru Sasaki; Takamitsu Matsubara; Kimitoshi Yamazaki (Adv. Robotics, 2023)

Disturbance Injection Under Partial Automation: Robust Imitation Learning for Long-Horizon Tasks. - Hirotaka Tahara; Hikaru Sasaki; Hanbit Oh; Edgar Anarossi; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2023)

Learning to Shape by Grinding: Cutting-Surface-Aware Model-Based Reinforcement Learning. - Takumi Hachimine; Jun Morimoto; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2023)

Reinforcement Learning With Energy-Exchange Dynamics for Spring-Loaded Biped Robot Walking. - Cheng-Yu Kuo; Hirofumi Shin; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2023)

AdaTerm: Adaptive T-distribution estimated robust moments for Noise-Robust stochastic gradient optimization. - Wendyam Eric Lionel Ilboudo; Taisuke Kobayashi; Takamitsu Matsubara (Neurocomputing, 2023)

Cautious policy programming: exploiting KL regularization for monotonic policy improvement in reinforcement learning. - Lingwei Zhu; Takamitsu Matsubara (Mach. Learn., 2023)

Reinforcement Learning of Action and Query Policies With LTL Instructions Under Uncertain Event Detector. - Wataru Hatanaka; Ryota Yamashina; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2023)

Domain Randomization-free Sim-to-Real : An Attention-Augmented Memory Approach for Robotic Tasks. - Jia Qu; Shun Otsubo; Tomoya Yamanokuchi; Takamitsu Matsubara; Shotaro Miwa (IROS, 2024)

Analysis of Grinding Motion using Force/Tactile Sensation. - Tomoya Kitamura; Takumi Hachimine; Takamitsu Matsubara; Yuki Saito 003; Hiroshi Asai; Kouhei Ohnishi (ISIE, 2024)

ISPIL: Interactive Sub-Goal-Planning Imitation Learning for Long-Horizon Tasks With Diverse Goals. - Cynthia Ochoa; Hanbit Oh; Yuhwan Kwon; Yukiyasu Domae; Takamitsu Matsubara (IEEE Access, 2024)

Unsupervised Neural Motion Retargeting for Humanoid Teleoperation. - Satoshi Yagi; Mitsunori Tada; Eiji Uchibe; Suguru Kanoga; Takamitsu Matsubara; Jun Morimoto (CoRR, 2024)

Domains as Objectives: Domain-Uncertainty-Aware Policy Optimization through Explicit Multi-Domain Convex Coverage Set Learning. - Wendyam Eric Lionel Ilboudo; Taisuke Kobayashi; Takamitsu Matsubara (CoRR, 2024)

Progressive-Resolution Policy Distillation: Leveraging Coarse-Resolution Simulation for Time-Efficient Fine-Resolution Policy Learning. - Yuki Kadokawa; Hirotaka Tahara; Takamitsu Matsubara (CoRR, 2024)

Weber-Fechner Law in Temporal Difference learning derived from Control as Inference. - Keiichiro Takahashi; Taisuke Kobayashi; Tomoya Yamanokuchi; Takamitsu Matsubara (CoRR, 2024)

Incipient Slip Detection by Vibration Injection Into Soft Sensor. - Naoto Komeno; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2024)

Leveraging Demonstrator-Perceived Precision for Safe Interactive Imitation Learning of Clearance-Limited Tasks. - Hanbit Oh; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2024)

Robust iterative value conversion: Deep reinforcement learning for neurochip-driven edge robots. - Yuki Kadokawa; Tomohito Kodera; Yoshihisa Tsurumine; Shinya Nishimura; Takamitsu Matsubara (Robotics Auton. Syst., 2024)

Constrained footstep planning using model-based reinforcement learning in virtual constraint-based walking. - Takanori Jin; Taisuke Kobayashi; Takamitsu Matsubara (Adv. Robotics, 2024)

Cooperative Grasping and Transportation using Multi-agent Reinforcement Learning with Ternary Force Representation. - Ing-Sheng Bernard-Tiong; Yoshihisa Tsurumine; Ryosuke Sota; Kazuki Shibata; Takamitsu Matsubara (SII, 2025)

Diffusion Model and RRT*-Based Methods for Reflected Mass Optimization in Motion Planning. - David Gutierrez-Moreno; Simon Armleder; Yuhwan Kwon; Takumi Hachimine; Yoshihisa Tsurumine; Takamitsu Matsubara; Gordon Cheng (SII, 2025)

Self-Supervised Learning of Grasping Arbitrary Objects On-the-Move. - Takuya Kiyokawa; Eiki Nagata; Yoshihisa Tsurumine; Yuhwan Kwon; Takamitsu Matsubara (SII, 2025)

Task-priority Intermediated Hierarchical Distributed Policies: Reinforcement Learning of Adaptive Multi-robot Cooperative Transport. - Yusei Naito; Tomohiko Jimbo; Tadashi Odashima; Takamitsu Matsubara (SII, 2025)

Reinforcement Learning of Multi-robot Task Allocation for Multi-object Transportation with Infeasible Tasks. - Yuma Shida; Tomohiko Jimbo; Tadashi Odashima; Takamitsu Matsubara (SII, 2025)

KeyMPs: One-Shot Vision-Language Guided Motion Generation by Sequencing DMPs for Occlusion-Rich Tasks. - Edgar Anarossi; Yuhwan Kwon; Hirotaka Tahara; Shohei Tanaka; Keisuke Shirai; Masashi Hamaya; Cristian C. Beltran-Hernandez; Atsushi Hashimoto 001; Takamitsu Matsubara (IEEE Access, 2025)

Optimizing non-assisted body part movements for robot-assisted therapy. - Tatsuya Teramae; Takamitsu Matsubara; Tomoyuki Noda; Jun Morimoto (Biomed. Signal Process. Control., 2025)

Progressive-Resolution Policy Distillation: Leveraging Coarse-Resolution Simulations for Time-Efficient Fine-Resolution Policy Learning. - Yuki Kadokawa; Hirotaka Tahara; Takamitsu Matsubara (IEEE Trans Autom. Sci. Eng., 2025)

Disentangled Iterative Surface Fitting for Contact-stable Grasp Planning. - Tomoya Yamanokuchi; Alberto Bacchin; Emilio Olivastri; Takamitsu Matsubara; Emanuele Menegatti (CoRR, 2025)

Cutting Sequence Diffuser: Sim-to-Real Transferable Planning for Object Shaping by Grinding. - Takumi Hachimine; Jun Morimoto; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2025)

Feasibility-aware Imitation Learning from Observations through a Hand-mounted Demonstration Interface. - Kei Takahashi; Hikaru Sasaki; Takamitsu Matsubara (CoRR, 2025)

ICCO: Learning an Instruction-conditioned Coordinator for Language-guided Task-aligned Multi-robot Control. - Yoshiki Yano; Kazuki Shibata; Maarten Kokshoorn; Takamitsu Matsubara (CoRR, 2025)

BEAC: Imitating Complex Exploration and Task-oriented Behaviors for Invisible Object Nonprehensile Manipulation. - Hirotaka Tahara; Takamitsu Matsubara (CoRR, 2025)

Reinforcement Learning of Flexible Policies for Symbolic Instructions With Adjustable Mapping Specifications. - Wataru Hatanaka; Ryota Yamashina; Takamitsu Matsubara (IEEE Robotics Autom. Lett., 2025)

Composite Gaussian processes flows for learning discontinuous multimodal policies. - Shu-yuan Wang; Hikaru Sasaki; Takamitsu Matsubara (Appl. Intell., 2025)

DAPPER: Discriminability-Aware Policy-to-Policy Preference-Based Reinforcement Learning for Query-Efficient Robot Skill Acquisition. - Yuki Kadokawa; Jonas Frey; Takahiro Miki; Takamitsu Matsubara; Marco Hutter 001 (CoRR, 2025)

Where Do We Look When We Teach? Analyzing Human Gaze Behavior Across Demonstration Devices in Robot Imitation Learning. - Yutaro Ishida; Takamitsu Matsubara; Takayuki Kanai; Kazuhiro Shintani; Hiroshi Bito (CoRR, 2025)

Robotic System for Chemical Experiment Automation with Dual Demonstration of End-effector and Jig Operations. - Hikaru Sasaki; Naoto Komeno; Takumi Hachimine; Kei Takahashi; Yu-ya Ohnishi; Tetsunori Sugawara; Araki Wakiuchi; Miho Hatanaka; Tomoyuki Miyao; Hiroharu Ajiro; Mikiya Fujii; Takamitsu Matsubara (CoRR, 2025)

Prolonging Tool Life: Learning Skillful Use of General-purpose Tools through Lifespan-guided Reinforcement Learning. - Po-Yen Wu; Cheng-Yu Kuo; Yuki Kadokawa; Takamitsu Matsubara (CoRR, 2025)