Faculty Profiles - OHASHI Takeshi

Papers - OHASHI Takeshi

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Untying Cable by Combining 3D Deep Neural Network with Deep Reinforcement Learning Reviewed International journal

Zheming Fan, Wanpeng Shao, Toyohiro Hayashi, Takeshi Ohashi

Advanced Robotics ( Taylor & Francis ) 37 ( 0 ) 380 - 394 2022.09

Authorship：Last author Language：English Publishing type：Research paper (scientific journal)

In this study, we propose a framework to solve the cable traction problem where many cables are needed, such as in factories, schools, etc. Our framework is divided into three stages: First, we use SegNet to recognize the cable in the image, build a 3D voxel model by 3D-VAE-GAN, and transform the voxel model to a 3D particle model in Unity3D by the Position-Based Dynamics method. Second, features learned by a 3D deep neural network (PointNet++) from the 3D model are fed into a deep reinforcement learning (RL) network (DQN) to get a series of actions to untie the 3D cable model in Unity3D. Finally, we input the action sequence to the robot arm to untie the cable in the real world. Experimental results show that compared with traditional methods, our method has successfully applied artificial intelligence algorithms to help the computer learn how to untie knotted cables by itself in the virtual world. The untying operations learned in the virtual world can be also used to untie the cable in the real world.

DOI： 10.1080/01691864.2022.2126729

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85139094345&origin=inward

Make Simulatable 3D Cable Model from Single RGB Image Reviewed International journal

Fan Zheming, Hayashi Toyohiro, Ohashi Takeshi

IIAI AAI 2021 Winter Congress ( International Institute of Applied Informatics ) 12 - 23 2021.12

Planning Method of Untying Cable with Reinforcement Learning Technology Reviewed International journal

Fan Zheming, Hayashi Toyohiro, Ohashi Takeshi

RoboCup Asai-Pacific 2021 Symposium ( RoboCup Asai-Pacific 2021 Symposium ) 12pages 2021.11

Make 3D Cable Model from Single RGB Image Reviewed International journal

Fan Zheming, Hayashi Toyohiro, Ohashi Takeshi

IIAI AAI 2021, SCAI 2021 ( International Institute of Applied Informatics ) 482 - 286 2021.07

Authorship：Last author Language：English Publishing type：Research paper (international conference proceedings)

Japan Online 2021.07.11 - 2021.07.16

DOI： 10.1109/IIAI-AAI53430.2021.00083

Scopus

Other Link： https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85133163893&origin=inward

Security improvement measures for Office365 based mail service:- Reinforcement of log monitoring and authentication procedure - Reviewed

Toyohiro Hayashi, Yutaka Fukuda, Akihiro Satoh, Takeshi Ohashi

Journal for Academic Computing and Networking ( National university corporation of Information Processing Center Council ) 24 ( 1 ) 104 - 115 2020.01

2nd Forestry Drone and Robots competition report

TAKEMURA Yasunori, HAYASHI Eiji, OHTAKE Hiroshi, OHASHI Takeshi, KAMEI Keiji, ISHII Kazuo

Proceedings of the Fuzzy System Symposium ( Japan Society for Fuzzy Theory and Intelligent Informatics ) 33 ( 0 ) 651 - 654 2017.01

D-9-33 Development of character segmentation software for handwriting investigation

TAGUCHI Yuichi, HAYASHI Toyohiro, OHASHI Takeshi

Proceedings of the IEICE General Conference ( The Institute of Electronics, Information and Communication Engineers ) 2015 ( 1 ) 2015.02

RoboCup@Home における課題設定と技術開発 Invited Reviewed

大橋　健

計測と制御 52 ( 6 ) 481 - 486 2013.06

Effective and Fast Optimization for a Dynamic Model of the Drosophila Circadian Oscillator Reviewed

Shin Tanaka,Hiroyuki Kurata,Takehshi Ohashi

2006 IEEE International Conference on Systems, Man, and Cybernetics 3596 - 3601 2006.10

Survival ratio GA for two-evaluation problem in parameter tuning of heat shock response in E. coli Reviewed

Shin Tanaka,Hiroyuki Kurata,Takehshi Ohashi

2005 IEEE International Conference on Systems, Man, and Cybernetics 2078 - 2083 2005.10

Feature-Based Actomyosin Complex Particles Detection Reviewed

Jianfei Yang,Takeshi Ohashi,Takuo Yasunaga

ISCIS Pacific 2005 2005.05

Automatic Detecting Particles Approach using AdaBoost-SVM Reviewed

Jianfei Yang,Takeshi Ohashi,Takuo Yasunaga

WSEAS TRANSACTIONS on BIOLOGY and BIOMEDICINE 2 ( 2 ) 163 - 168 2005.04

Reverse engineering for a dynamic model of the drosophila circadian oscillator Reviewed

Shin Tanaka,Hiroyuki Kurata,Takeshi Ohashi

International Conference on Computational Intelligence for Modeling Control and Automation 1 625 - 630 2005.04

Automatic Detecting Particles Approach Using AdaBoost-SVM Reviewed

Jianfei Yang,Takeshi Ohashi,Takuo Yasunaga

MATHEMATICS AND COMPUTERS IN BIOLOGY AND CHEMISTRY (MCBC'05) 2005.03

Automatic Actomyosin Complex Selection Using SVM Reviewed

Jianfei Yang,Takeshi Ohashi,Takuo Yasunaga

IADIS International Conference APPLIDE COMPUTING 2005 559 - 564 2005.02

Optimization of E.Coli Heat Shock Response parameter tuning usingDistributed and Integrated Genetic Algorithms Reviewed

Shin Tanaka,Hiroyuki Kurata,Takeshi Ohashi

IEEE SMC'2004 1243 - 1248 2004.10

The Kyushu United Team 2003 in the Four Legged Robot League Reviewed

Yoshihiro YASUTAKE,Kentaro ODA,Toshiyuki ISHIMURA,Takeshi OHASHI

RoboCup2003 Proceedings of the International Symposium with Team Description Papers 2003.07

An Open Robot Simulator Environment Reviewed

Toshiyuki ISHIMURA,Takeshi KATO,Kentaro ODA,Takeshi OHASHI

RoboCup2003 Proceedings of the International Symposium with Team Description Papers 2003.07

Dominant Direction Priority Searching Method for Real-Corded Genetic Algorithm Reviewed

Tanaka Shin,Kurata Hiroki,Ohashi Takeshi

Proceedings of the International Conference on Parallel and Distributed Processing Techniques and Applications PDPTA'03 1113 - 1119 2003.06

4足ロボットリーグのとりくみ Reviewed

大橋　健

日本ロボット学会誌 20 ( 1 ) 45 - 46 2002.01

State transition rate based reinforcement learning Reviewed

Takeshi OHASHI,Hirohiko Nakamura,Jyunichi Minatodani,Shuichi Enokida,Takaichi Yoshida,Toshiaki Ejima

2000 IEEE International Conference on Systems, Man & Cybernetics 236 - 241 2000.10

Extended Q-learning:Reinforcement Learning using Self-Organized State Space Reviewed

Shunichi ENOKIDA,Takeshi OHASHI,Takaichi YOSHIDA,Toshiaki EJIMA

The Fourth International Workshop on RoboCup 11 - 19 2000.09

強化学習を用いたサッカーロボットの行動獲得 Reviewed

大橋　健

人工知能学会研究会資料SIG-Challenge 13 - 18 2000.04

A Motion Generator Approach to Translating Human Motion from Video toAnimation Reviewed

Tsukasa Noma,Kyoji Oishi,Hiroshi Futsuhara,Hiromi Baba,Takeshi Ohashi,and Toshiaki Ejima

The Journal of Visualization and Computer Animation 11 ( 5 ) 237 - 248 2000.04

Extended Q-learning : Reinforcement Learning using Self-Organized State Space Reviewed

The Fourth International Workshop on Robo Cup 11 - 13 2000.04

正弦波格子で対応付けるステレオ法 Reviewed

大橋　健

画像の認識理解シンポジウムMIRU2000 pp.I-51-56 2000.04

Stochastic Field Model for Autonomous Robot Leaning Reviewed

Shuichi ENOKIDA,Takeshi OHASHI,Takaichi YOHIDA,Toshiaki EJIMA

1999 IEEE International Conference on Systems, Man, and Cybernetics IIー752 - 757 1999.10

Motion Generator Approach to Translationg Human Motion from video to Animation Reviewed

Tsukasa Noma,Kyoji Oishi,Hiroshi Futsuhara,Hiromi Baba,Takeshi Ohashi,Toshiaki Ejima

Proc. of Pacific Graphics '99 50 - 58 1999.10

A Gesture Recognition Method for Stick Input System Reviewed

Transactions of Information Processing Society of Japan 40 ( 2 ) 567 - 576 1999.04

Gesture-Based Editing System for Graphic Primitives and Alphanumeric Characters Reviewed

Byung-Woo MIn,Ho-Sub Yoon,Jung Soh,Takeshi Ohashi,Toshiaki Ejima

Engineering Application of Artificial Intelligence 12 ( 4 ) 429 - 441 1999.04

Visual Recgnition of Static/Dynamic Gesture: Gesture-Driven Editing System Reviewed

Byung-Woo Min,Ho-Sub Yoon,Jung Soh,Takeshi Ohashi,Tshiaki Ejima

Journal of Visual Languages and Computing 10 ( 3 ) 291 - 309 1999.04

行動確率場モデルに基づく強化学習 -- 拡張 Q-学習 -- Reviewed

榎田修一,大橋健,吉田隆一,江島俊朗

情報処理学会論文誌：数理モデルと応用 40 ( SIG 9 ) 72 - 80 1999.04

『棒』入力システムのためのジェスチャ認識の実現 Reviewed

大橋健,仲程啓,吉田隆一,江島俊朗

情報処理学会論文誌 40 ( 2 ) 567 - 576 1999.04

A Reinforcement Learning Based on Stochastic Field Model-Extended Q-Learning- Reviewed

40 ( SIG9(TOM2) ) 72 - 80 1999.04

行動確率場モデルに基づく強化学習-拡張Q-学習- Reviewed

大橋　健

情報処理学会論文誌 40 ( SIG9(TOM2) ) 72 - 80 1999.04

方向特徴を用いた指示棒が描くジェスチャの認識 Reviewed

大橋　健

電子情報通信学会技術研究報告 PRMU97 ( 273 ) 57 - 64 1998.04

Filtering and segmentation of digitized land use map images Reviewed

Rafael Santos,Takeshi Ohashi,Takaichi Yoshida,Toshiaki Ejima

International Journal on Document Analysis and Recognition 1 ( 3 ) 167 - 174 1998.04

stick gesture recognition using directional features Reviewed

TECHNICAL REPORT OF IEICE PRMU97 ( 273 ) 57 - 64 1998.04

2次元符号付き立方体を用いるインタフェイス Reviewed

大橋　健

第3回知能情報メディアシンポジウム予稿論文集 105 - 110 1997.04

A real world oriented interface using two dimensional coded cubes Reviewed

Proceedings of the Third Symposium on Intelligent Information Media 105 - 110 1997.04

HMMを用いた指示棒が描くジェスチャの認識 Reviewed

大橋　健

平成9年度電気関係学会九州支部連合大会 83 - 83 1997.04

A communication technique using a real world oriented interface Reviewed

25 - 32 1996.04

A deformation technique for virtual objects using a stick Reviewed

TECHNICAL REPORT OF IEICE. PRMU96-95 17 - 22 1996.04

実世界指向インターフェイスを用いたコミュニケーション Reviewed

大橋　健

第2回知能情報メディアシンポジウム予稿論文集 25 - 32 1996.04

指示棒を用いた仮想オブジェクト変形操作 Reviewed

大橋　健

電子情報通信学会技術研究報告 PRMU96-95 17 - 22 1996.04

A recognition mothod of gesture drawn by a stick Reviewed

II 49 - 54 1996.04

指示棒によるジェスチャの認識手法 Reviewed

大橋　健

画像の理解・認識シンポジウムMIRU'96講演論文集 II 49 - 54 1996.04

手書き文字認識における複数特徴を統合する認識器EID3の提案 Reviewed

大橋　健

情報処理学会論文誌 37 ( 4 ) 483 - 489 1996.04

A manipulation method of virtual objects using a stick Reviewed

TECHNICAL REPORT OF IEICE. MVE95 ( 63 ) 25 - 32 1996.04

指示棒を用いた仮想オブジェクト操作 Reviewed

大橋　健

電子情報通信学会技術研究報告 MVE95 ( 63 ) 25 - 32 1996.04

EID3 : An Integration of Multiple Featares for Handwritten Charcters Recognition Reviewed

Transactions of Information Processing Society of Japan 37 ( 4 ) 483 - 489 1996.04

エネルギー最小化原理に基づく均質領域の抽出法 Reviewed

大橋　健

電子情報通信年会技術研究報告PRU92-147 92 ( 517 ) 25 - 32 1993.04

文書画像理解システムの一構成法 Reviewed

大橋　健

電子情報通信学会技術研究報告PRN92-107 92 ( 433 ) 37 - 44 1993.04

Homogeneous region segmentation based energy minimization Reviewed

THE IEICE TECHNICAL REPORT OF IEICE 92 ( 517 ) 25 - 32 1993.04

A Document Image Understanding System Reviewed

THE INSTITUTE OF ELECTRONICS, INFORMATION AND COMMUNICATION ENGINEERS 92 ( 433 ) 37 - 44 1993.04

疎結合型並列計算機上での階層型PDPモデルの実現 Reviewed

大橋　健

電子情報通信学会論文誌DII文冊 73 ( 8 ) 1990.04

疎結合型並列計算機上でのPDPモデルの実現 Reviewed

大橋　健

電子情報通信学会技術研究会報告情報理論研究会(IT) 57 1989.04

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Papers - OHASHI Takeshi