Deformation analysis and active compensation of surgical milling robot based on system error evaluation. - Naohiko Sugita; Takayuki Osa; Yoshikazu Nakajima; Mamoru Mitsuishi (ICRA, 2008)

Cutting Tool Protects for Soft Tissues in Bone-Milling Machining. - Naohiko Sugita; Taiga Nakano; Takayuki Osa; Yoshikazu Nakajima; Kazuo Fujiwara; Nobuhiro Abe; Toshifumi Ozaki; Masahiko Suzuki; Mamoru Mitsuishi (Int. J. Autom. Technol., 2009)

Autonomous High Precision Positioning of Surgical Instruments in Robot-Assisted Minimally Invasive Surgery under Visual Guidance. - Christoph Staub; Alois C. Knoll; Takayuki Osa; Robert Bauernschmitt (ICAS, 2010)

Automation of tissue piercing using circular needles and vision guidance for computer aided laparoscopic surgery. - Christoph Staub; Takayuki Osa; Alois C. Knoll; Robert Bauernschmitt (ICRA, 2010)

Asynchronous force and visual feedback in teleoperative laparoscopic surgical system. - Kazushi Onda; Takayuki Osa; Naohiko Sugita; Makoto Hashizume; Mamoru Mitsuishi (IROS, 2010)

Framework of automatic robot surgery system using Visual servoing. - Takayuki Osa; Christoph Staub; Alois C. Knoll (IROS, 2010)

Perforation risk detector using demonstration-based learning for teleoperated robotic surgery. - Takayuki Osa; Takuto Haniu; Kanako Harada; Naohiko Sugita; Mamoru Mitsuishi (IROS, 2013)

Autonomous penetration detection for bone cutting tool using demonstration-based learning. - Takayuki Osa; Christian Farid Abawi; Naohiko Sugita; Hirotaka Chikuda; Shurei Sugita; Hideya Ito; Toru Moro; Yoshio Takatori; Sakae Tanaka; Mamoru Mitsuishi (ICRA, 2014)

Trajectory planning under different initial conditions for surgical task automation by learning from demonstration. - Takayuki Osa; Kanako Harada; Naohiko Sugita; Mamoru Mitsuishi (ICRA, 2014)

Hybrid control of master-slave velocity control and admittance control for safe remote surgery. - Takayuki Osa; Satoshi Uchida; Naohiko Sugita; Mamoru Mitsuishi (IROS, 2014)

Online Trajectory Planning in Dynamic Environments for Surgical Task Automation. - Takayuki Osa; Naohiko Sugita; Mamoru Mitsuishi (Robotics: Science and Systems, 2014)

Experiments with Hierarchical Reinforcement Learning of Multiple Grasping Policies. - Takayuki Osa; Jan Peters 001; Gerhard Neumann (ISER, 2016)

Active Incremental Learning of Robot Movement Primitives. - Guilherme Maeda; Marco Ewerton; Takayuki Osa; Baptiste Busch; Jan Peters 001 (CoRL, 2017)

A learning-based shared control architecture for interactive task execution. - Firas Abi-Farraj; Takayuki Osa; Nicolo Pedemonte; Jan Peters 001; Gerhard Neumann; Paolo Robuffo Giordano (ICRA, 2017)

Guiding Trajectory Optimization by Demonstrated Distributions. - Takayuki Osa; Amir Masoud Ghalamzan Esfahani; Rustam Stolkin; Rudolf Lioutikov; Jan Peters 001; Gerhard Neumann (IEEE Robotics Autom. Lett., 2017)

Hierarchical Policy Search via Return-Weighted Density Estimation. - Takayuki Osa; Masashi Sugiyama (AAAI, 2018)

Sample and Feedback Efficient Hierarchical Reinforcement Learning from Human Preferences. - Robert Pinsler; Riad Akrour; Takayuki Osa; Jan Peters 001; Gerhard Neumann (ICRA, 2018)

Hierarchical reinforcement learning of multiple grasping strategies with human instructions. - Takayuki Osa; Jan Peters 001; Gerhard Neumann (Adv. Robotics, 2018)

An Algorithmic Perspective on Imitation Learning. - Takayuki Osa; Joni Pajarinen; Gerhard Neumann; J. Andrew Bagnell; Pieter Abbeel; Jan Peters 001 (Found. Trends Robotics, 2018)

Online Trajectory Planning and Force Control for Automation of Surgical Tasks. - Takayuki Osa; Naohiko Sugita; Mamoru Mitsuishi (IEEE Trans Autom. Sci. Eng., 2018)

Hierarchical Reinforcement Learning via Advantage-Weighted Information Maximization. - Takayuki Osa; Voot Tangkaratt; Masashi Sugiyama (ICLR (Poster), 2019)

Reducing Overestimation Bias in Multi-Agent Domains Using Double Centralized Critics. - Johannes Ackermann; Volker Gabler; Takayuki Osa; Masashi Sugiyama (CoRR, 2019)

Variational Autoencoder Trajectory Primitives with Continuous and Discrete Latent Codes. - Takayuki Osa; Shuhei Ikemoto (CoRR, 2019)

Learning the Solution Manifold in Optimization and Its Application in Motion Planning. - Takayuki Osa (CoRR, 2020)

Multimodal trajectory optimization for motion planning. - Takayuki Osa (Int. J. Robotics Res., 2020)

Hierarchical Stochastic Optimization With Application to Parameter Tuning for Electronically Controlled Transmissions. - Hiroyuki Karasawa; Tomohiro Kanemaki; Kei Oomae; Rui Fukui; Masayuki Nakao; Takayuki Osa (IEEE Robotics Autom. Lett., 2020)

Goal-Conditioned Variational Autoencoder Trajectory Primitives with Continuous and Discrete Latent Codes. - Takayuki Osa; Shuehi Ikemoto (SN Comput. Sci., 2020)

Meta-Model-Based Meta-Policy Optimization. - Takuya Hiraoka; Takahisa Imagawa; Voot Tangkaratt; Takayuki Osa; Takashi Onishi; Yoshimasa Tsuruoka (ACML, 2021)

Discovering Diverse Solutions in Deep Reinforcement Learning. - Takayuki Osa; Voot Tangkaratt; Masashi Sugiyama (CoRR, 2021)

Deep Reinforcement Learning With Adversarial Training for Automated Excavation Using Depth Images. - Takayuki Osa; Masanori Aizawa (IEEE Access, 2022)

Motion planning by learning the solution manifold in trajectory optimization. - Takayuki Osa (Int. J. Robotics Res., 2022)

Discovering diverse solutions in deep reinforcement learning by maximizing state-action-based mutual information. - Takayuki Osa; Voot Tangkaratt; Masashi Sugiyama (Neural Networks, 2022)

Forward/Inverse Kinematics Modeling for Tensegrity Manipulator Based on Goal-Conditioned Variational Autoencoder. - Yuhei Yoshimitsu; Takayuki Osa; Shuhei Ikemoto (IROS, 2023)

Offline Reinforcement Learning with Mixture of Deterministic Policies. - Takayuki Osa; Akinobu Hayashi; Pranav Deo; Naoki Morihira; Takahide Yoshiike (Trans. Mach. Learn. Res., 2023)

Learning Adaptive Policies for Autonomous Excavation Under Various Soil Conditions by Adversarial Domain Sampling. - Takayuki Osa; Naoto Osajima; Masanori Aizawa; Tatsuya Harada (IEEE Robotics Autom. Lett., 2023)

Symmetric Q-learning: Reducing Skewness of Bellman Error in Online Reinforcement Learning. - Motoki Omura; Takayuki Osa; Yusuke Mukuta; Tatsuya Harada (AAAI, 2024)

Latent Space Curriculum Reinforcement Learning in High-Dimensional Contextual Spaces and Its Application to Robotic Piano Playing. - Haruki Abe; Takayuki Osa; Motoki Omura; Jen-Yen Chang; Tatsuya Harada (Humanoids, 2024)

Discovering Multiple Solutions from a Single Task in Offline Reinforcement Learning. - Takayuki Osa; Tatsuya Harada (ICML, 2024)

Touch-Based Manipulation with Multi-Fingered Robot using Off-policy RL and Temporal Contrastive Learning. - Naoki Morihira; Pranav Deo; Manoj Bhadu; Akinobu Hayashi; Tadaaki Hasegawa; Satoshi Otsubo; Takayuki Osa (ICRA, 2024)

Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration. - Abby O'Neill; Abdul Rehman; Abhiram Maddukuri; Abhishek Gupta 004; Abhishek Padalkar; Abraham Lee; Acorn Pooley; Agrim Gupta; Ajay Mandlekar; Ajinkya Jain; Albert Tung; Alex Bewley; et al. (ICRA, 2024)

Robustifying a Policy in Multi-Agent RL with Diverse Cooperative Behaviors and Adversarial Style Sampling for Assistive Tasks. - Takayuki Osa; Tatsuya Harada (ICRA, 2024)

Active Learning for Forward/Inverse Kinematics of Redundantly-driven Flexible Tensegrity Manipulator. - Yuhei Yoshimitsu; Takayuki Osa; Heni Ben Amor; Shuhei Ikemoto (IROS, 2024)

Offline Reinforcement Learning from Datasets with Structured Non-Stationarity. - Johannes Ackermann; Takayuki Osa; Masashi Sugiyama (RLJ, 2024)

Stabilizing Extreme Q-learning by Maclaurin Expansion. - Motoki Omura; Takayuki Osa; Yusuke Mukuta; Tatsuya Harada (RLJ, 2024)

Offline Deep Reinforcement Learning for Visual Distractions via Domain Adversarial Training. - Jen-Yen Chang; Thomas Westfechtel; Takayuki Osa; Tatsuya Harada (Trans. Mach. Learn. Res., 2024)

Gradual Transition from Bellman Optimality Operator to Bellman Operator in Online Reinforcement Learning. - Motoki Omura; Kazuki Ota; Takayuki Osa; Yusuke Mukuta; Tatsuya Harada (CoRR, 2025)

Offline Reinforcement Learning with Wasserstein Regularization via Optimal Transport Maps. - Motoki Omura; Yusuke Mukuta; Kazuki Ota; Takayuki Osa; Tatsuya Harada (CoRR, 2025)