Works and Publications

Awards Link to heading

  1. K. Kawaharazuka, Y. Obinata, N. Kanazawa, N. Tsukamoto, K. Okada: Reflexive Open-Vocabulary Navigation without Prior Knowledge Using Omnidirectional Camera and Multiple Vision-Language Models, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Environment Dynamics Matters: Embodied Navigation to Movable Objects, 2024. Excellent Practice Award

  2. Y. Obinata: Task Execution Manager Generation by Large Language Model and its Application to RoboCup JapanOpen @Home League GPSR, The 41st Annual Conference on Robotics Society of Japan, 2023. Outstanding Presentation Award

  3. N. Kanzazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: Real-World Task Execution Robot System for Egg Dishes from Recipes Based on Object State-Centric Cooking Behavior Descriptions, The 24th SICE System Integration Division Annual Conference, 2023. SI2023 Outstanding Presentation Award

  4. Y. Obinata, K. Kawaharazuka, N. Kanazawa, N. Yamaguchi, N. Tsukamoto, I. Yanokura, S. Kitagawa, K. Shinjo, K. Okada, M. Inaba: Semantic Scene Difference Detection in Daily Life Patroling by Mobile Robots using Pre-Trained Large-Scale Vision-Language Model, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3228–3233, 2023. IEEE Robotics and Automation Society (RAS) Japan Joint Chapter Young Award (in IROS2023)

  5. Y. Obinata, K. Kawaharazuka, N. Kanazawa, N. Yamaguchi, N. Tsukamoto, I. Yanokura, S. Kitagawa, K. Shinjo, K. Okada, M. Inaba: Semantic Scene Difference Detection in Daily Life Patroling by Mobile Robots using Pre-Trained Large-Scale Vision-Language Model, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3228–3233, 2023. SICE International Young Authors Award (SIYA-IROS2023)

  6. Y. Obinata, I. Yanokura, N. Tsukamoto, N. Yamaguchi, S. Kitagawa, K. Okada, M. Inaba: System for Teaching Robot Action Instructions and Responding to Situations Using a Chat Application, The 18th International Conference on Intelligent Autonomous Systems (IAS18), 2023. Finalist of Best Paper Awards

  7. Y. Obinata, N. Kanazawa, K. Kawaharazuka, I. Yanokura, S. Kim: 1st prize at RoboCup@home Japan 2022 General Purpose Service Robot, 2023.

  8. K. Shinjo, S. Kitagawa, N. Yamaguchi, Y. Obinata, K. Okada, M. Inaba: Realization of delivery robot system which ask for delivery tasks while standing by, The 22th SICE System Integration Division Annual Conference, 2021. SI2021 Outstanding Presentation Award

Research Works Link to heading

Journals Link to heading

  1. K. Shinjo, Y. Obinata, K. Kawaharazuka, K. Okada, M. Inaba: Simply mountable elevator status recognition and operation system with multi-sensor and IoT switches for movement of robots between floors, Journal of the Robotics Society of Japan, (in press), 2024.

  2. N. Kanazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: Real-world cooking robot system from recipes based on food state recognition using foundation models and PDDL, Advanced Robotics, vol. 38, no. 18, pp. 1318-1334, 2024.

  3. K. Kawaharazuka, Y. Obinata, N. Kanazawa, N. Tsukamoto, K. Okada, M. Inaba: Reflex-Based Open-Vocabulary Navigation without Prior Knowledge Using Omnidirectional Camera and Multiple Vision-Language Models, Advanced Robotics, vol. 38, no. 18, pp. 1307-1317, 2024.

  4. K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba: Robotic Environmental State Recognition with Pre-Trained Vision-Language Models and Black-Box Optimization, Advanced Robotics, vol. 38, no. 18, pp. 1255-1264, 2024.

  5. K. Kawaharazuka, N. Kanazawa, Y. Obinata, K. Okada, M. Inaba: Continuous Object State Recognition for Cooking Robots Using Pre-Trained Vision-Language Models and Black-box Optimization, IEEE Robotics and Automation Letters (RAL), vol. 9, no. 5, pp. 4059-4066, 2024.

  6. K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba: Robotic State Recognition based on Large-Scale Vision-Language Models and Genetic Algorithm, Journal of the Robotics Society of Japan, vol. 42, no. 3, pp. 259-265, 2023.

  7. N. Kanazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: Cooking Task Execution of Robot based on Food Condition Change Recognition by Recipe Description Analysis and Time-Series Use of Vision-Language Model, Journal of the Robotics 4Society of Japan, vol. 42, no. 3, pp. 266-273, 2023.

International Conference Proceedings (Peer Reviewed) Link to heading

  1. Y. Obinata, H. Jia, K. Kawaharazuka, N. Kanazawa, K. Okada: Remote Life Support Robot Interface System for Global Task Planning and Local Action Expansion Using Foundation Models, IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 738-743, 2024.

  2. K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba: Robotic State Recognition with Image-to-Text Retrieval Task of Pre-Trained Vision-Language Model and Black-Box Optimization, IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 934–940, 2024.

  3. K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba: Robotic Applications of Pre-Trained Vision-Language Models to Various Recognition Behaviors, IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp.458–465, 2023.

  4. K. Kawaharazuka, N. Kanazawa, Y. Obinata, K. Okada, M. Inaba: Daily Assistive View Control Learning of Low-Cost Low-Rigidity Robot via Large-Scale Vision-Language Model, IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp.452–457, 2023.

  5. Y. Obinata, K. Kawaharazuka, N. Kanazawa, N. Yamaguchi, N. Tsukamoto, I. Yanokura, S. Kitagawa, K. Shinjo, K. Okada, M. Inaba: Semantic Scene Difference Detection in Daily Life Patroling by Mobile Robots using Pre-Trained Large-Scale Vision-Language Model, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.3228–3233, 2023. IEEE Robotics and Automation Society (RAS) Japan Joint Chapter Young Award (in IROS2023), SICE International Young Authors Award (SIYA-IROS2023)

  6. A. Ichikura, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: A Method for Selecting Scenes and Emotion-Based Descriptions for a Robot’s Diary, IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023.

  7. Y. Obinata, I. Yanokura, N. Tsukamoto, N. Yamaguchi, S. Kitagawa, K. Okada, M. Inaba: System for Teaching Robot Action Instructions and Responding to Situations Using a Chat Application, The 18th International Conference on Intelligent Autonomous Systems (IAS18), 2023. Finalist of Best Paper Awards

  8. A. Ichikura, K. Kawaharazuka, Y. Obinata, K. Shinjo, K. Okada, M. Inaba: Automatic Diary Generation System Including Information on Joint Experiences between Humans and Robots, The 18th International Conference on Intelligent Autonomous Systems (IAS18), 2023.

  9. N. Kanazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: Recognition of Heat-Induced Food State Changes by Time-Series Use of Vision-Language Model for Cooking Robot, The 18th International Conference on Intelligent Autonomous Systems (IAS18), 2023.

  10. K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba: VQA-based Robotic State Recognition Optimized with Genetic Algorithm, IEEE International Conference on Robotics and Automation (ICRA), pp.8306–8311, 2023.

Domestic Conference Proceedings (Peer Reviewed) Link to heading

  1. Y. Obinata, K. Kawaharazuka, N. Kanazawa, N. Yamaguchi, N. Tsukamoto, I. Yanokura, S. Kitagawa, K. Okada, M. Inaba: Situation Classification of Daily Environment Based on Long-Term Memory of a Patrol Robot Using a Pre-Trained Vision and Language Model, The 28th Robotics Symposia, 2023.

  2. K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba: Robotic Discrete and Continuous State Recognition based on Vision-Language Models and Genetic Algorithm, The 28th Robotics Symposia, 2023.

  3. N. Kanazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: Food State Change Recognition from Recipe Descriptions by Time-Series Use of Vision-Language Model for Cooking Support Robot, The 28th Robotics Symposia, 2023.

  4. N. Tsukamoto, N. Yamaguchi, S. Kitagawa, I. Yanokura, Y. Obinata, K. Shinjo, K. Okada, M. Inaba: Use of Robot-robot Verbal Cooperation System for Daily Patrol Tasks, The 28th Robotics Symposia, 2023.

Domestic Conference Proceedings (Not Reviewed) Link to heading

  1. K. Kawaharazuka, Y. Obinata, N. Kanazawa, N. Tsukamoto, K. Okada: Reflex-Based Open-Vocabulary Navigation Using Omnidirectional Camera and Vision-Language Models, The 25th SICE System Integration Division Annual Conference, 2024.

  2. Y. Obinata, H. Jia, K. Kawaharazuka, N. Kanazawa, K. Okada: あいまいな生活支援ロボット動作記述の VLM と AR デバイスを用いた提示と指示による展開, The 42nd Annual Conference on Robotics Society of Japan, 2024.

  3. K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada: 大規模視覚-言語モデルによる調理ロボットの時系列食材状態認識, The 42nd Annual Conference on Robotics Society of Japan, 2024.

  4. Y. Obinata, N. Tsukamoto, K. Kawaharazuka, N. Kanazawa, K. Okada, M. Inaba: Online Daily Life Support Robot Program Template Expansion based on Field Knowledge, The 38th Annual Conference of the Japanese Society for Artificial Intelligence, 2024.

  5. N. Kanzazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: 基盤モデルと古典プランニングを用いたレシピ記述からの実世界調理計画認識実行ロボットシステム, The 30th Annual Meeting of the Language Processing Society of Japan, 2024.

  6. N. Kanzazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: Real-World Task Execution Robot System for Egg Dishes from Recipes Based on Object State-Centric Cooking Behavior Descriptions, The 24th SICE System Integration Division Annual Conference, 2023.

  7. Y. Obinata, N. Kanazawa, K. Kawaharazuka, I. Yanokura, S. Kim, K. Okada, M. Inaba: Task Execution Manager Generation by Large Language Model and its Application to RoboCup JapanOpen @Home League GPSR, The 41st Annual Conference on Robotics Society of Japan, 2023.

  8. N. Kanzazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: 調理ロボットのための基盤モデル利用によるレシピ記述からの卵料理の食材状態変化認識と動作シーケンス生成, The 41st Annual Conference on Robotics Society of Japan, 2023.

  9. Y. Obinata, K. Kawaharazuka, N. Kanazawa, N. Yamaguchi, N. Tsukamoto, I. Yanokura, S. Kitagawa, K. Okada, M. Inaba: Classification of living environment and robot task mapping system using large-scale visual-language model and chat interface, JSME Conference on Robotics and Mechatronics, 2023.

  10. A. Ichikura, K. Kawaharazuka, Y. Obinata, K. Shinjo, K. Okada, M. Inaba: Robot’s Walk Diary-Comparison of readers’ impressions of differences in descriptions in the diary, JSME Conference on Robotics and Mechatronics, 2023.

  11. K. Kawaharazuka, Y. Obinata, N. Kanazawa, K. Okada, M. Inaba: State Recognition based on Large-Scale Vision-Language Model and Evolutionary Computation for Daily Assistive Robots, The 37th Annual Conference of the Japanese Society for Artificial Intelligence, 2023.

  12. N. Kanazawa, K. Kawaharazuka, Y. Obinata, K. Okada, M. Inaba: Cooking Recognition Planning Action Robot System Considering the Change of Food Condition from the Description of Cooking Recipe Using Large-Scale Foundation Models, The 37th Annual Conference of the Japanese Society for Artificial Intelligence, 2023.

  13. N. Tsukamoto, I. Yanokura, Y. Obinata, N. Yamaguchi, S. Kitagawa, K. Shinjo, K. Okada, M. Inaba: Situation notifier: Notifying High-level task description with environment situations, The 23th SICE System Integration Division Annual Conference, 2022.

  14. Y. Obinata, I. Yanokura, S. Kitagawa, K. Okada, M. Inaba: チャットアプリから指示可能なロボットシステム, The 40th Annual Conference on Robotics Society of Japan, 2022.

  15. K. Shinjo, Y. Obinata, K. Kawaharazuka, K. Okada, M. Inaba: 移動ロボットのフロア間移動のためのマルチセンサ・ IoT スイッチによるエレベータ状態認識・操作システム, The 40th Annual Conference on Robotics Society of Japan, 2022.

  16. Y. Obinata, K. Shinjo, I. Yanokura, N. Tsukamoto, N. Yamaguchi, S. Kitagawa, K. Okada, M. Inaba: Status sharing and action instruction system through remote dialogue with an errand robot, JSME Conference on Robotics and Mechatronics, 2022.

  17. N. Tsukamoto, N. Yamaguchi, K. Shinjo, Y. Obinata, S. Kitagawa, K. Okada, M. Inaba: A daily patrol system for daily life support based on the cooperation for multiple robots using verbal communication, JSME Conference on Robotics and Mechatronics, 2022.

  18. K. Shinjo, S. Kitagawa, N. Yamaguchi, Y. Obinata, K. Okada, M. Inaba: Realization of delivery robot system which ask for delivery tasks while standing by, The 22th SICE System Integration Division Annual Conference, 2021. SI2021 Outstanding Presentation Award

  19. K. Shinjo, Y. Obinata, K. Okada, M. Inaba: Realization of walking support for visually impaired in indoor and outdoor environments with 4-legs robot using topological support behavior graph, LIFE2020-2021, 2021.

  20. Y. Obinata, N. Yamaguchi, S. Kitagawa, K. Okada, M. Inaba: A cooperative system for building facility operation and service robot delivery using smart IoT devices, JSME Conference on Robotics and Mechatronics, 2021.

  21. Y. Obinata, N. Yamaguchi, K. Shinjo, S. Kitagawa, K. Okada, M. Inaba: An indoor and outdoor errand-behavior system based on the coordination of multiple robots, JSME Conference on Robotics and Mechatronics, 2021.

  22. K. Shinjo, Y. Obinata, K. Okada, M. Inaba: Realization of walking navigation system for visually impaired with motion guidance system, JSME Conference on Robotics and Mechatronics, 2021.

Open Source Software Works Link to heading

  1. jsk-ros-pkg/jsk_3rdparty

  2. jsk-ros-pkg/jsk_recognition

Media Link to heading

  1. ロボットに指示・意図どう伝える？…インターフェース最適化へ新手法探る, 日刊工業新聞, Nov 24 2024.

  2. 生活支援ロボット、ＡＩで変革した現在地と展望, 日刊工業新聞, Nov 30 2023.

  3. Attracted to the robots that are actually used – intern interview, Mujin, Oct 11 2021.

  4. ロボットで生活便利に, 信濃毎日新聞, Jan 29 2021.