{"id":241119,"updated":"2025-01-19T07:44:17.829581+00:00","links":{},"created":"2025-01-19T01:45:42.265904+00:00","metadata":{"_oai":{"id":"oai:ipsj.ixsq.nii.ac.jp:00241119","sets":["1164:6757:11458:11794"]},"path":["11794"],"owner":"44499","recid":"241119","title":["身体化歩行動作と整合する歩行軌跡の学習安定化"],"pubdate":{"attribute_name":"公開日","attribute_value":"2024-11-22"},"_buckets":{"deposit":"3fb5011c-a775-4f71-9665-497be98aabca"},"_deposit":{"id":"241119","pid":{"type":"depid","value":"241119","revision_id":0},"owners":[44499],"status":"published","created_by":44499},"item_title":"身体化歩行動作と整合する歩行軌跡の学習安定化","author_link":["663284","663286","663285"],"item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"身体化歩行動作と整合する歩行軌跡の学習安定化"}]},"item_type_id":"4","publish_date":"2024-11-22","item_4_text_3":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"豊田工業大学"},{"subitem_text_value":"京都工芸繊維大学"},{"subitem_text_value":"豊田工業大学"}]},"item_4_text_4":{"attribute_name":"著者所属(英)","attribute_value_mlt":[{"subitem_text_value":"Toyota Technological Institute","subitem_text_language":"en"},{"subitem_text_value":"Kyoto Institute of Technology","subitem_text_language":"en"},{"subitem_text_value":"Toyota Technological Institute","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/241119/files/IPSJ-DCC24038017.pdf","label":"IPSJ-DCC24038017.pdf"},"date":[{"dateType":"Available","dateValue":"2026-11-22"}],"format":"application/pdf","billing":["billing_file"],"filename":"IPSJ-DCC24038017.pdf","filesize":[{"value":"2.6 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":"50"},{"tax":["include_tax"],"price":"0","billingrole":"44"}],"accessrole":"open_date","version_id":"b1799915-3314-4768-ad73-543cd6c89ce2","displaytype":"detail","licensetype":"license_note","license_note":"Copyright (c) 2024 by the Information Processing Society of Japan"}]},"item_4_creator_5":{"attribute_name":"著者名","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"武次, 広夢"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"延原, 章平"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"浮田, 宗伯"}],"nameIdentifiers":[{}]}]},"item_4_source_id_9":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AA12628338","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":"2188-8868","subitem_source_identifier_type":"ISSN"}]},"item_4_description_7":{"attribute_name":"論文抄録","attribute_value_mlt":[{"subitem_description":"人軌跡予測はソーシャルロボットや自動運転等に応用される重要な技術であり，盛んに研究されている．しかし，多くの従来手法は（1）人の歩行動作として不自然な軌跡を予測する場合があり，（2）十分な長さの過去軌跡を仮定しているために観測が不足している場合に予測性能が大きく低下するという課題を有する．著者らの先行研究では，予測軌跡に沿う歩行動作を物理シミュレータ内で生成した際の整合性を歩行価値関数により評価し，軌跡予測器の学習に損失として組み込むことでこれらの課題を緩和できることを見出した．だが，この先行研究では歩行価値関数の学習安定性に難があり，観測が十分な場合の軌跡予測性能ではむしろ性能が悪化するといった課題があった．そこで提案手法では，この歩行価値関数の学習方法をデータ，アーキテクチャ，最適化方法の面から多角的に再考し，学習安定化によるさらなる軌跡予測性能の向上を実現する．実験では，提案する学習法によってより安定的な歩行価値関数の学習が可能となり，観測が十分な場合においても従来手法を上回る軌跡予測性能が得られることを確認した．","subitem_description_type":"Other"}]},"item_4_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicPageEnd":"8","bibliographic_titles":[{"bibliographic_title":"研究報告デジタルコンテンツクリエーション（DCC）"}],"bibliographicPageStart":"1","bibliographicIssueDates":{"bibliographicIssueDate":"2024-11-22","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"17","bibliographicVolumeNumber":"2024-DCC-38"}]},"relation_version_is_last":true,"weko_creator_id":"44499"}}