arXiv subjects

Hiroki Mori

Publications and source records attributed to Hiroki Mori.

27 records · Page 2Linked to original sources

arXiv2021

Compensation for undefined behaviors during robot task execution by switching controllers depending on embedded dynamics in RNN

Robotic applications require both correct task performance and compensation for undefined behaviors. Although deep learning is a promising approach to perform complex tasks, the response to undefined behaviors that are not reflected in the training dataset remains challenging. In a human-robot collaborative task, the robot may adopt an unexpected posture due to collisions and other unexpected events. Therefore, robots should be able to recover from disturbances for completing the execution of the intended task. We propose a compensation method for undefined behaviors by switching between two controllers. Specifically, the proposed method switches between learning-based and model-based controllers depending on the internal representation of a recurrent neural network that learns task dynamics. We applied the proposed method to a pick-and-place task and evaluated the compensation for undefined behaviors. Experimental results from simulations and on a real robot demonstrate the effectiveness and high performance of the proposed method.

cs.RO↗

arXiv2021

Spatial Attention Point Network for Deep-learning-based Robust Autonomous Robot Motion Generation

Deep learning provides a powerful framework for automated acquisition of complex robotic motions. However, despite a certain degree of generalization, the need for vast amounts of training data depending on the work-object position is an obstacle to industrial applications. Therefore, a robot motion-generation model that can respond to a variety of work-object positions with a small amount of training data is necessary. In this paper, we propose a method robust to changes in object position by automatically extracting spatial attention points in the image for the robot task and generating motions on the basis of their positions. We demonstrate our method with an LBR iiwa 7R1400 robot arm on a picking task and a pick-and-place task at various positions in various situations. In each task, the spatial attention points are obtained for the work objects that are important to the task. Our method is robust to changes in object position. Further, it is robust to changes in background, lighting, and obstacles that are not important to the task because it only focuses on positions that are important to the task.

cs.RO↗

arXiv2020

Follow-up Observations for IceCube-170922A: Detection of Rapid Near-Infrared Variability and Intensive Monitoring of TXS 0506+056

We present our follow-up observations to search for an electromagnetic counterpart of the IceCube high-energy neutrino, IceCube-170922A. Monitoring observations of a likely counterpart, TXS 0506+056, are also described. First, we quickly took optical and near-infrared images of 7 flat-spectrum radio sources within the IceCube error region right after the neutrino detection and found a rapid flux decline of TXS 0506+056 in Kanata/HONIR J-band data. Motivated by this discovery, intensive follow-up observations of TXS 0506+056 are continuously done, including our monitoring imaging observations, spectroscopic observations, and polarimetric observations in optical and near-infrared wavelengths. TXS 0506+056 shows a large amplitude (~1.0 mag) variability in a time scale of several days or longer, although no significant variability is detected in a time scale of a day or shorter. TXS 0506+056 also shows a bluer-when-brighter trend in optical and near-infrared wavelengths. Structure functions of variabilities are examined and indicate that TXS 0506+056 is not a special blazar in terms of optical variability. Polarization measurement results of TXS 0506+056 are also discussed.

astro-ph.HE↗

arXiv2020

Evidence for planetary hypothesis for PTFO 8-8695b with five-year optical/infrared monitoring observations

PTFO 8-8695b (CVSO 30b) is a young planet candidate whose host star is a $\sim$ 2.6 Myr-old T-Tauri star, and there have been continuous discussions about the nature of this system. To unveil the mystery of this system, we observed PTFO8-8695 for around five years at optical and infrared bands simultaneously using Kanata telescope at the Higashi-Hiroshima Observatory. Through our observations, we found that the reported fading event split into two: deeper but phase-shifted "dip-A" and shallower but equiphase "dip-B". These dips disappeared at different epochs, and then, dip-B reappeared. Based on the observed wavelength dependence of dip depths, a dust clump and a precessing planet are likely origins of dip-A and B, respectively. Here we propose "a precessing planet associated with a dust cloud" scenario for this system. This scenario is consistent with the reported change in the depth of fading events, and even with the reported results, which were thought to be negative evidence to the planetary hypothesis, such as the past non-detection of the Rossiter-McLaughlin effect. If this scenario is correct, this is the third case of a young (<3 Myr) planet around a pre-main sequence star. This finding implies that a planet can be formed within a few Myr.

astro-ph.EP↗

arXiv2018

Motion Switching with Sensory and Instruction Signals by designing Dynamical Systems using Deep Neural Network

To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly difficult as the number of situations and the types of tasks performed by them increase. To handle the switching and combination of multiple behaviors, we propose a method to design dynamical systems based on point attractors that accept (i) "instruction signals" for instruction-driven switching. We incorporate the (ii) "instruction phase" to form a point attractor and divide the target task into multiple subtasks. By forming an instruction phase that consists of point attractors, the model embeds a subtask in the form of trajectory dynamics that can be manipulated using sensory and instruction signals. Our model comprises two deep neural networks: a convolutional autoencoder and a multiple time-scale recurrent neural network. In this study, we apply the proposed method to manipulate soft materials. To evaluate our model, we design a cloth-folding task that consists of four subtasks and three patterns of instruction signals, which indicate the direction of motion. The results depict that the robot can perform the required task by combining subtasks based on sensory and instruction signals. And, our model determined the relations among these signals using its internal dynamics.

cs.RO↗

arXiv2018

Low-luminosity Type IIP Supernova 2016bkv with early-phase circumstellar interaction

We present optical and near-infrared observations of a low-luminosity Type IIP supernova (SN) 2016bkv from the initial rising phase to the plateau phase. Our observations show that the end of the plateau is extended to $\gtrsim 140$ days since the explosion, indicating that this SN takes one of the longest time to finish the plateau phase. among Type IIP SNe (SNe IIP), including low-luminosity (LL) SNe IIP. The line velocities of various ions at the middle of the plateau phase are as low as 1,000--1,500 km s$^{-1}$, which is the lowest even among LL SNe IIP. These measurements imply that the ejecta mass in SN 2016bkv is larger than that of the well-studied LL IIP SN 2003Z. In the early phase, SN 2016bkv shows a strong bump in the light curve. In addition, the optical spectra in this bump phase exhibit a blue continuum accompanied with a narrow H$α$ emission line. These features indicate an interaction between the SN ejecta and the circumstellar matter (CSM) as in SNe IIn. Assuming the ejecta-CSM interaction scenario, the mass loss rate is estimated to be $\sim 1.7 \times 10^{-2} M_{\odot}$ yr$^{-1}$ within a few years before the SN explosion. This is comparable to or even larger than the largest mass loss rate observed for the Galactic red supergiants ($\sim 10^{-3} M_{\odot}$ yr$^{-1}$ for VY CMa). We suggest that the progenitor star of SN 2016bkv experienced a violent mass loss just before the SN explosion.

astro-ph.GA↗

arXiv2017

Causal Patterns: Extraction of multiple causal relationships by Mixture of Probabilistic Partial Canonical Correlation Analysis

In this paper, we propose a mixture of probabilistic partial canonical correlation analysis (MPPCCA) that extracts the Causal Patterns from two multivariate time series. Causal patterns refer to the signal patterns within interactions of two elements having multiple types of mutually causal relationships, rather than a mixture of simultaneous correlations or the absence of presence of a causal relationship between the elements. In multivariate statistics, partial canonical correlation analysis (PCCA) evaluates the correlation between two multivariates after subtracting the effect of the third multivariate. PCCA can calculate the Granger Causal- ity Index (which tests whether a time-series can be predicted from an- other time-series), but is not applicable to data containing multiple partial canonical correlations. After introducing the MPPCCA, we propose an expectation-maxmization (EM) algorithm that estimates the parameters and latent variables of the MPPCCA. The MPPCCA is expected to ex- tract multiple partial canonical correlations from data series without any supervised signals to split the data as clusters. The method was then eval- uated in synthetic data experiments. In the synthetic dataset, our method estimated the multiple partial canonical correlations more accurately than the existing method. To determine the types of patterns detectable by the method, experiments were also conducted on real datasets. The method estimated the communication patterns In motion-capture data. The MP- PCCA is applicable to various type of signals such as brain signals, human communication and nonlinear complex multibody systems.

stat.ME↗

arXiv2016

Performance Analysis based on Density Evolution on Fault Erasure Belief Propagation Decoder

In this paper, we will present an analysis on the fault erasure BP decoders based on the density evolution. In the fault BP decoder, messages exchanged in a BP process are stochastically corrupted due to unreliable logic gates and flip-flops; i.e., we assume circuit components with transient faults. We derived a set of the density evolution equations for the fault erasure BP processes. Our density evolution analysis reveals the asymptotic behaviors of the estimation error probability of the fault erasure BP decoders. In contrast to the fault free cases, it is observed that the error probabilities of the fault erasure BP decoder converge to positive values, and that there exists a discontinuity in an error curve corresponding to the fault BP threshold. It is also shown that an message encoding technique provides higher fault BP thresholds than those of the original decoders at the cost of increased circuit size.

cs.IT↗

arXiv2015

Band Splitting Permutations for Spatially Coupled LDPC Codes Enhancing Burst Erasure Immunity

It is well known that spatially coupled (SC) codes with erasure-BP decoding have powerful error correcting capability over memoryless erasure channels. However, the decoding performance of SC-codes significantly degrades when they are used over burst erasure channels. In this paper, we propose band splitting permutations (BSP) suitable for $(l,r,L)$ SC-codes. The BSP splits a diagonal band in a base matrix into multiple bands in order to enhance the span of the stopping sets in the base matrix. As theoretical performance guarantees, lower and upper bounds on the maximal burst correctable length of the permuted $(l,r,L)$ SC-codes are presented. Those bounds indicate that the maximal correctable burst ratio of the permuted SC-codes converges to 1/k where k=r/l. This implies the asymptotic optimality of the permuted SC-codes in terms of burst erasure correction.

cs.IT↗