{"created":"2025-01-19T01:36:48.063845+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00234909","sets":["1164:2735:11468:11669"]},"path":["11669"],"owner":"44499","recid":"234909","title":["事前方策学習による低次元行動空間抽出と実環境における物体操り動作獲得"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-06-13"},"_buckets":{"deposit":"d2a85420-ea9a-4af5-b2eb-0142d4cf072d"},"_deposit":{"id":"234909","pid":{"type":"depid","value":"234909","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"事前方策学習による低次元行動空間抽出と実環境における物体操り動作獲得","author_link":["641030","641033","641029","641026","641028","641027","641031","641032"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"事前方策学習による低次元行動空間抽出と実環境における物体操り動作獲得"},{"subitem_title":"Low-dimensional action space extraction through prior policy learning and acquisition of object manipulation policies in real environments","subitem_title_language":"en"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"情報論的学習理論と機械学習3","subitem_subject_scheme":"Other"}]},"item_type_id":"4","publish_date":"2024-06-13","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"京都大学大学院情報学研究科"},{"subitem_text_value":"京都大学大学院情報学研究科"},{"subitem_text_value":"ATR脳情報研究所"},{"subitem_text_value":"京都大学大学院情報学研究科 / ATR脳情報研究所"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Graduate School of Informatics, Kyoto University","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Informatics, Kyoto University","subitem_text_language":"en"},{"subitem_text_value":"ATR Computational Neuroscience Labs","subitem_text_language":"en"},{"subitem_text_value":"Graduate School of Informatics, Kyoto University / ATR Computational Neuroscience Labs","subitem_text_language":"en"}]},"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/234909/files/IPSJ-MPS24148022.pdf","label":"IPSJ-MPS24148022.pdf"},"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-MPS24148022.pdf","filesize":[{"value":"2.6 MB"}],"mimetype":"application/pdf","priceinfo":[{"tax":["include_tax"],"price":"0","billingrole":"17"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_login","version_id":"fbc26673-a42f-42ba-80dd-b001d8fbd011","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Institute of Electronics, Information and Communication Engineers This SIG report is only available to those in membership of the SIG."}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"古巻, 鉄平"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"八木, 聡明"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"山森, 聡"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"森本, 淳"}],"nameIdentifiers":[{}]}]},"item_4_creator_6":{"attribute_name":"著者名(英)","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Teppei, Komaki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Satoshi, Yagi","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Satoshi, Yamamori","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Jun, Morimoto","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10505667","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":"2188-8833","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"本研究では，多指ハンドロボットが持つ多くの関節自由度を活用し多様な形状を持つ物体を操る方策を獲得するための方法を提案する．特に，複数の物体を操るための共通の潜在行動空間を抽出し，効率的に実環境においての対象物の操作を可能とするための枠組みを検討した．具体的には，シミュレータを用いた仮想環境内において，異なる形状のバルブを操作するための異なる方策を多指ハンドロボットが学習し，それら複数の方策から生成される行動軌道群から変分自己符号化器を用いて共通の潜在行動空間を抽出，この潜在行動空間上で探索することにより，実環境におけるバルブ操作のための方策を少ないサンプル数で獲得できることを実験的に示した．","subitem_description_type":"Other"}]},"item_4_description_8":{"attribute_name":"論文抄録(英)","attribute_value_mlt":[{"subitem_description":"In this study, we propose a policy acquisition method for manipulating objects of different shapes by exploiting the degrees of freedom of a multi-fingered hand robot. In particular, a framework for extracting a common latent action space for manipulating multiple objects and for efficiently manipulating objects in a real-world environment was explored. Specifically, a multi-finger hand robot learns different strategies for manipulating valves of different shapes in a simulated environment, extracts a common latent action space from a set of action trajectories generated by these polities using a Variational Autoencoder (VAE), and searches in this latent action space. We have shown experimentally that a multi-fingered hand robot can acquire policies for valve operation in a real environment with a small number of trials.","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"5","bibliographic_titles":[{"bibliographic_title":"研究報告数理モデル化と問題解決（MPS）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2024-06-13","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"22","bibliographicVolumeNumber":"2024-MPS-148"}]},"relation_version_is_last":true,"weko_creator_id":"44499"},"id":234909,"updated":"2025-01-19T09:40:26.855430+00:00","links":{}}