{"id":209818,"created":"2025-01-19T01:11:06.209081+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00209818","sets":["1164:4619:10416:10532"]},"path":["10532"],"owner":"44499","recid":"209818","title":["VRインタフェースを用いたタスク分割デモンストレーションによる6自由度把持の学習"],"pubdate":{"attribute_name":"公開日","attribute_value":"2021-02-25"},"_buckets":{"deposit":"d77baa20-86fb-4dca-993c-21d5027ebfa6"},"_deposit":{"id":"209818","pid":{"type":"depid","value":"209818","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"VRインタフェースを用いたタスク分割デモンストレーションによる6自由度把持の学習","author_link":["529979","529977","529978","529980","529976"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"VRインタフェースを用いたタスク分割デモンストレーションによる6自由度把持の学習"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"セッション3-1","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2021-02-25","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京大学"},{"subitem_text_value":"東京大学"},{"subitem_text_value":"東京大学"},{"subitem_text_value":"京都先端科学大学"},{"subitem_text_value":"東京大学"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_publisher":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"情報処理学会","subitem_publisher_language":"ja"}]},"publish_status":"0","weko_shared_id":-1,"item_file_price":{"attribute_name":"Billing file","attribute_type":"file","attribute_value_mlt":[{"url":{"url":"https://ipsj.ixsq.nii.ac.jp/record/209818/files/IPSJ-CVIM21225020.pdf","label":"IPSJ-CVIM21225020.pdf"},"date":[{"dateType":"Available","dateValue":"2023-02-25"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-CVIM21225020.pdf","filesize":[{"value":"3.3 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"660","billingrole":"5"},{"tax":["include_tax"],"price":"330","billingrole":"6"},{"tax":["include_tax"],"price":"0","billingrole":"20"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"a2e004b7-fbe2-4267-904d-0334cab8f202","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2021 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"川上, 大智"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"石川, 涼一"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"ローハス, メナンドロ"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"佐藤, 啓宏"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"大石, 岳史"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA11131797","subitem_source_identifier_type":"NCID"}]},"item_4_textarea_12":{"attribute_name":"Notice","attribute_value_mlt":[{"subitem_textarea_value":"SIG Technical Reports are nonrefereed and hence may later appear in any journals, conferences, symposia, etc."}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourceuri":"http://purl.org/coar/resource_type/c_18gh","resourcetype":"technical report"}]},"item_4_source_id_11":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"2188-8701","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"ロボットの自由度が増加するにつれ，ロボットの動作の実装は複雑かつ困難になる．本研究では，6 自由度把持動作の学習に注目し，強化学習の報酬設計が容易になるように把持動作を複数のタスクに分割することを考える．模倣学習の教師データとしてのデモンストレーションデータを収集するため，人間が直感的にロボットを操作できる VR インタフェースを作成した．タスクに応じて人間が動作のデモンストレーションを行い，模倣学習を行うことで，強化学習と組み合わせた学習の効率化を実現した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告コンピュータビジョンとイメージメディア（CVIM）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2021-02-25","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"20","bibliographicVolumeNumber":"2021-CVIM-225"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"updated":"2025-01-19T18:22:49.919974+00:00","links":{}}