Masayoshi Ozawa

MoTIL: Mode-Triggered Thought-Conditioned Imitation Learning for Predictable Human-Robot Collaboration

In physical-contact human-robot collaboration (HRC), human partners need to anticipate not only how a robot will move, but also which subtask the robot is currently executing. This is challenging when a high-level language mission must be translated into continuous robot motions, because end-to-end imitation policies d...