Ryo Hanai

Floris Erich, Naoya Chiba, Yusuke Yoshiyasu et al.

We present NeuralLabeling, a labeling approach and toolset for annotating 3D scenes using either bounding boxes or meshes and generating segmentation masks, affordance maps, 2D bounding boxes, 3D bounding boxes, 6DOF object poses, depth maps, and object meshes. NeuralLabeling uses Neural Radiance Fields (NeRF) as a renderer, allowing labeling to be performed using 3D spatial tools while incorporating geometric clues such as occlusions, relying only on images captured from multiple viewpoints as input. To demonstrate the applicability of NeuralLabeling to a practical problem in robotics, we added ground truth depth maps to 30000 frames of transparent object RGB and noisy depth maps of glasses placed in a dishwasher captured using an RGBD sensor, yielding the Dishwasher30k dataset. We show that training a simple deep neural network with supervision using the annotated depth maps yields a higher reconstruction performance than training with the previously applied weakly supervised approach. We also show how instance segmentation and depth completion datasets generated using NeuralLabeling can be incorporated into a robot application for grasping transparent objects placed in a dishwasher with an accuracy of 83.3%, compared to 16.3% without depth completion.

Floris Erich, Naoya Chiba, Abdullah Mustafa et al.

How can we extract complete geometric models of objects that we encounter in our daily life, without having access to commercial 3D scanners? In this paper we present an automated system for generating geometric models of objects from two or more videos. Our system requires the specification of one known point in at least one frame of each video, which can be automatically determined using a fiducial marker such as a checkerboard or Augmented Reality (AR) marker. The remaining frames are automatically positioned in world space by using Structure-from-Motion techniques. By using multiple videos and merging results, a complete object mesh can be generated, without having to rely on hole filling. Code for our system is available from https://github.com/FlorisE/NeuralMeshing.

Tomohiro Motoda, Ryo Hanai, Ryoichi Nakajo et al.

Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform with one hand alone. In recent years, learning-based models that focus on the possibilities of bimanual movements have been proposed. However, the high degree of freedom of the robot makes it challenging to reason about control, and the left and right robot arms need to adjust their actions depending on the situation, making it difficult to realize more dexterous tasks. To address the issue, we focus on coordination and efficiency between both arms, particularly for synchronized actions. Therefore, we propose a novel imitation learning architecture that predicts cooperative actions. We differentiate the architecture for both arms and add an intermediate encoder layer, Inter-Arm Coordinated transformer Encoder (IACE), that facilitates synchronization and temporal alignment to ensure smooth and coordinated actions. To verify the effectiveness of our architectures, we perform distinctive bimanual tasks. The experimental results showed that our model demonstrated a high success rate for comparison and suggested a suitable architecture for the policy learning of bimanual manipulation.

Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai et al.

This paper introduces a novel pipeline to enhance the precision of object masking for robotic manipulation within the specific domain of masking products in convenience stores. The approach integrates two advanced AI models, CLIP and SAM, focusing on their synergistic combination and the effective use of multimodal data (image and text). Emphasis is placed on utilizing gradient-based attention mechanisms and customized datasets to fine-tune performance. While CLIP, SAM, and Grad- CAM are established components, their integration within this structured pipeline represents a significant contribution to the field. The resulting segmented masks, generated through this combined approach, can be effectively utilized as inputs for robotic systems, enabling more precise and adaptive object manipulation in the context of convenience store products.

Muhammad A. Muttaqien, Tomohiro Motoda, Ryo Hanai et al.

Robotic pick-and-place tasks in convenience stores pose challenges due to dense object arrangements, occlusions, and variations in object properties such as color, shape, size, and texture. These factors complicate trajectory planning and grasping. This paper introduces a perception-action pipeline leveraging annotation-guided visual prompting, where bounding box annotations identify both pickable objects and placement locations, providing structured spatial guidance. Instead of traditional step-by-step planning, we employ Action Chunking with Transformers (ACT) as an imitation learning algorithm, enabling the robotic arm to predict chunked action sequences from human demonstrations. This facilitates smooth, adaptive, and data-driven pick-and-place operations. We evaluate our system based on success rate and visual analysis of grasping behavior, demonstrating improved grasp accuracy and adaptability in retail environments.