So Kuroki

So Kuroki, Jiaxian Guo, Tatsuya Matsushima et al. · uw

Due to the inherent uncertainty in their deformability during motion, previous methods in deformable object manipulation, such as rope and cloth, often required hundreds of real-world demonstrations to train a manipulation policy for each object, which hinders their applications in our ever-changing world. To address this issue, we introduce GenDOM, a framework that allows the manipulation policy to handle different deformable objects with only a single real-world demonstration. To achieve this, we augment the policy by conditioning it on deformable object parameters and training it with a diverse range of simulated deformable objects so that the policy can adjust actions based on different object parameters. At the time of inference, given a new object, GenDOM can estimate the deformable object parameters with only a single real-world demonstration by minimizing the disparity between the grid density of point clouds of real-world demonstrations and simulations in a differentiable physics simulator. Empirical validations on both simulated and real-world object manipulation setups clearly show that our method can manipulate different objects with a single demonstration and significantly outperforms the baseline in both environments (a 62% improvement for in-domain ropes and a 15% improvement for out-of-distribution ropes in simulation, as well as a 26% improvement for ropes and a 50% improvement for cloths in the real world), demonstrating the effectiveness of our approach in one-shot deformable object manipulation.

So Kuroki, Jiaxian Guo, Tatsuya Matsushima et al. · uw

Due to the inherent uncertainty in their deformability during motion, previous methods in rope manipulation often require hundreds of real-world demonstrations to train a manipulation policy for each rope, even for simple tasks such as rope goal reaching, which hinder their applications in our ever-changing world. To address this issue, we introduce GenORM, a framework that allows the manipulation policy to handle different deformable ropes with a single real-world demonstration. To achieve this, we augment the policy by conditioning it on deformable rope parameters and training it with a diverse range of simulated deformable ropes so that the policy can adjust actions based on different rope parameters. At the time of inference, given a new rope, GenORM estimates the deformable rope parameters by minimizing the disparity between the grid density of point clouds of real-world demonstrations and simulations. With the help of a differentiable physics simulator, we require only a single real-world demonstration. Empirical validations on both simulated and real-world rope manipulation setups clearly show that our method can manipulate different ropes with a single demonstration and significantly outperforms the baseline in both environments (62% improvement in in-domain ropes, and 15% improvement in out-of-distribution ropes in simulation, 26% improvement in real-world), demonstrating the effectiveness of our approach in one-shot rope manipulation.

Kotaro Yoshida, So Kuroki, Yuki Imajuku et al.

Large language models (LLMs) are increasingly used for writing and review support, but their usefulness depends on context-dependent criteria, such as expert preferences or organization-specific conventions, that are often tacit, undocumented, and difficult to elicit directly. We propose a problem setting for learning reusable natural-language rubrics from accumulated inline comments on artifacts such as human-written or LLM-generated drafts. Our method infers rubrics from these comments and iteratively refines them by observing comment-wise mismatches between rubric-conditioned predictions and reference comments. We evaluate the proposed method in real-world review settings and in controlled settings with reference rubrics. These results show that inline comments can be distilled into reusable rubrics that support comment prediction, rubric understanding, and automatic artifact revision.

So Kuroki, Tatsuya Matsushima, Jumpei Arima et al.

While natural systems often present collective intelligence that allows them to self-organize and adapt to changes, the equivalent is missing in most artificial systems. We explore the possibility of such a system in the context of cooperative 2D push manipulations using mobile robots. Although conventional works demonstrate potential solutions for the problem in restricted settings, they have computational and learning difficulties. More importantly, these systems do not possess the ability to adapt when facing environmental changes. In this work, we show that by distilling a planner derived from a differentiable soft-body physics simulator into an attention-based neural network, our multi-robot push manipulation system achieves better performance than baselines. In addition, our system also generalizes to configurations not seen during training and is able to adapt toward task completions when external turbulence and environmental changes are applied. Supplementary videos can be found on our project website: https://sites.google.com/view/ciom/home

Naruya Kondo, So Kuroki, Ryosuke Hyakuta et al.

An aspirational goal for virtual reality (VR) is to bring in a rich diversity of real world objects losslessly. Existing VR applications often convert objects into explicit 3D models with meshes or point clouds, which allow fast interactive rendering but also severely limit its quality and the types of supported objects, fundamentally upper-bounding the "realism" of VR. Inspired by the classic "billboards" technique in gaming, we develop Deep Billboards that model 3D objects implicitly using neural networks, where only 2D image is rendered at a time based on the user's viewing direction. Our system, connecting a commercial VR headset with a server running neural rendering, allows real-time high-resolution simulation of detailed rigid objects, hairy objects, actuated dynamic objects and more in an interactive VR world, drastically narrowing the existing real-to-simulation (real2sim) gap. Additionally, we augment Deep Billboards with physical interaction capability, adapting classic billboards from screen-based games to immersive VR. At our pavilion, the visitors can use our off-the-shelf setup for quickly capturing their favorite objects, and within minutes, experience them in an immersive and interactive VR world with minimal loss of reality. Our project page: https://sites.google.com/view/deepbillboards/

Yuichi Inoue, Kou Misaki, Yuki Imajuku et al.

Recent advances demonstrate that increasing inference-time computation can significantly boost the reasoning capabilities of large language models (LLMs). Although repeated sampling (i.e., generating multiple candidate outputs) is a highly effective strategy, it does not leverage external feedback signals for refinement, which are often available in tasks like coding. In this work, we propose Adaptive Branching Monte Carlo Tree Search (AB-MCTS), a novel inference-time framework that generalizes repeated sampling with principled multi-turn exploration and exploitation. At each node in the search tree, AB-MCTS dynamically decides whether to "go wider" by expanding new candidate responses or "go deeper" by revisiting existing ones based on external feedback signals. We evaluate our method on complex coding and engineering tasks using frontier models. Empirical results show that AB-MCTS consistently outperforms both repeated sampling and standard MCTS, underscoring the importance of combining the response diversity of LLMs with multi-turn solution refinement for effective inference-time scaling. Code is available at https://github.com/SakanaAI/treequest .

So Kuroki, Yingtao Tian, Kou Misaki et al.

The study of emergent behaviors in large language model (LLM)-driven multi-agent systems is a critical research challenge, yet progress is limited by a lack of principled methodologies for controlled experimentation. To address this, we introduce Shachi, a formal methodology and modular framework that decomposes an agent's policy into core cognitive components: Configuration for intrinsic traits, Memory for contextual persistence, and Tools for expanded capabilities, all orchestrated by an LLM reasoning engine. This principled architecture moves beyond brittle, ad-hoc agent designs and enables the systematic analysis of how specific architectural choices influence collective behavior. We validate our methodology on a comprehensive 10-task benchmark and demonstrate its power through novel scientific inquiries. Critically, we establish the external validity of our approach by modeling a real-world U.S. tariff shock, showing that agent behaviors align with observed market reactions only when their cognitive architecture is appropriately configured with memory and tools. Our work provides a rigorous, open-source foundation for building and evaluating LLM agents, aimed at fostering more cumulative and scientifically grounded research.

So Kuroki, Manami Nakagawa, Shigeo Yoshida et al.

Many real-world tasks, such as trip planning or meal planning, can be formulated as combinatorial optimization problems. However, using optimization solvers is difficult for end users because it requires problem instantiation: defining candidate items, assigning preference scores, and specifying constraints. We introduce LAPPI (LLM-Assisted Preference-based Problem Instantiation), an interactive approach that uses large language models (LLMs) to support users in this instantiation process. Through natural language conversations, the system helps users transform vague preferences into well-defined optimization problems. These instantiated problems are then passed to existing optimization solvers to generate solutions. In a user study on trip planning, our method successfully captured user preferences and generated feasible plans that outperformed both conventional and prompt-engineering approaches. We further demonstrate LAPPI's versatility by adapting it to an additional use case.

So Kuroki, Taishi Nakamura, Takuya Akiba et al.

Training large language models to acquire specific skills remains a challenging endeavor. Conventional training approaches often struggle with data distribution imbalances and inadequacies in objective functions that do not align well with task-specific performance. To address these challenges, we introduce CycleQD, a novel approach that leverages the Quality Diversity framework through a cyclic adaptation of the algorithm, along with a model merging based crossover and an SVD-based mutation. In CycleQD, each task's performance metric is alternated as the quality measure while the others serve as the behavioral characteristics. This cyclic focus on individual tasks allows for concentrated effort on one task at a time, eliminating the need for data ratio tuning and simplifying the design of the objective function. Empirical results from AgentBench indicate that applying CycleQD to LLAMA3-8B-INSTRUCT based models not only enables them to surpass traditional fine-tuning methods in coding, operating systems, and database tasks, but also achieves performance on par with GPT-3.5-TURBO, which potentially contains much more parameters, across these domains. Crucially, this enhanced performance is achieved while retaining robust language capabilities, as evidenced by its performance on widely adopted language benchmark tasks. We highlight the key design choices in CycleQD, detailing how these contribute to its effectiveness. Furthermore, our method is general and can be applied to image segmentation models, highlighting its applicability across different domains.

So Kuroki, Yotaro Kubo, Takuya Akiba et al.

Real-time speech-to-speech (S2S) models excel at generating natural, low-latency conversational responses but often lack deep knowledge and semantic understanding. Conversely, cascaded systems combining automatic speech recognition, a text-based Large Language Model (LLM), and text-to-speech synthesis offer superior knowledge representation at the cost of high latency, which disrupts the flow of natural interaction. This paper introduces a novel hybrid architecture that bridges the gap between these two paradigms. Our framework processes user speech through an S2S transformer for immediate responsiveness while concurrently relaying the query to a powerful back-end LLM. The LLM's text-based response is then injected in real time to guide the S2S model's speech generation, effectively infusing its output with rich knowledge without the full latency penalty of a cascaded system. We evaluated our method using a speech-synthesized variant of the MT-Bench benchmark that consists of multi-turn question-answering sessions. The results demonstrate that our system substantially outperforms a baseline S2S model in response correctness, approaching that of a cascaded system, while maintaining a latency on par with the baseline.