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Yuni Fuchioka 渕岡湧仁 Profile
Yuni Fuchioka 渕岡湧仁

@yunifuchioka

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PhD student, ETH Zürich Robotic Systems Lab @leggedrobotics | Master's at @UBC with @Mvandepanne | Japanese guy raised in Canada living in Switzerland

https://t.co/XD8zU6SUYp
Joined October 2022
Don't wanna be here? Send us removal request.
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
4 months
I'm excited to share my first project since starting my PhD! Leading a team to participate in this challenge was the best way for me to quickly get up to speed with using the ANYmal robot, and for me to understand the current capabilities and challenges for teleoperation!
@leggedrobotics
Robotic Systems Lab
@leggedrobotics
4 months
The Robotic Systems Lab won third place in the Advanced Industrial Robotic Applications (AIRA) Challenge, demonstrating our leader-follower teleoperation system for industrial inspection tasks. Full video:
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
8 months
I started my PhD at the ETH Zürich Robotic Systems Lab! I'm super thrilled to be joining the lab that has produced many of my favorite works in the field :) チューリッヒ工科大学で博士課程始めました！ずっと憧れだったラボなので、精一杯自分のやりたい研究ができるように頑張ります！
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
I'll be at #ICRA2023 next week, presenting my poster on Wed May 31st 9:00-10:40, PODS 16-18! I look forward to meeting many people at my first international robotics conference, so please reach out to me if you'd like to meet up!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
10 months
遅れてしまいましたが、基盤モデル×RoboticsAdvent Calendar 2023に記事を投稿しました！本記事では僕が大好きな四足ロボット強化学習の論文の紹介に加え、僕自身が研究を通して蓄積した分野の知見も織り交ぜながら紹介しています！
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Lee et al 2020 "Learning Quadrupedal Locomotion over Challenging Terrain"から紐解く四足ロボット強化学習の「秘伝のタレ」 -...

はじめにはじめまして！2023年末までOMRON SINIC X（OSX）で機械学習によるロボット制御の研究インターンをしていた渕岡湧仁(フチオカユニ)と申します！松尾研では第一回TRAILロボナ…

qiita.com
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
2 years
I'm very excited that our work got accepted to #ICRA2023 ! I look forward to attending my first in-person international robotics conference in London :)
@Mvandepanne
Michiel van de Panne
@Mvandepanne
2 years
We teach a Solo8 quadruped to walk as a biped (and more), using trajectory optimization + RL imitation. "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors", with @yunifuchioka , @zhaomingxie
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
As of last week, I'm an intern at @omron_sinicx in Tokyo! I'm really excited to be back in Japan doing robotics research! 先週からOMRON SINIC Xでインターンとして働かせていただいてます!!日本にいる期間、たくさんの日本のロボット研究者と繋がりたいです!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
#ICRA2023 was such a blast!! It was my first international robotics conference, so it was so much fun seeing old and new friends, interesting presentations, and of course lots and lots of cool robots :)
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
Come say hi to me at pod 16!!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
I'll be at #ICRA2023 next week, presenting my poster on Wed May 31st 9:00-10:40, PODS 16-18! I look forward to meeting many people at my first international robotics conference, so please reach out to me if you'd like to meet up!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
5 months
Presentation went well in the morning, now it's time for the poster session! Come say hi to me close to the "A" gate in the exhibition hall :)
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
5 months
In this paper that I wrote during my internship at @omron_sinicx , we propose a method for estimating torque from tactile sensors using analytical techniques that I learned during my undergrad in Engineering Physics! To be presented at #ICRA2024 next week. See you in Yokohama!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
5 months
In this paper that I wrote during my internship at @omron_sinicx , we propose a method for estimating torque from tactile sensors using analytical techniques that I learned during my undergrad in Engineering Physics! To be presented at #ICRA2024 next week. See you in Yokohama!
@mh69543540
Masashi Hamaya
@mh69543540
5 months
また、我々は、ICRA2024で画像型触覚センサによる把持トルク推定の研究を発表します。把持時のセンサ表面のマーカの移動で生じるベクトル場が、電磁気学における双極子によって生じる電場に似ていることに着想を得て、より正確にトルクを推定できました。インターン @yunifuchioka さんとの研究です。
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
11 months
I had a great time seeing 4 huge exhibition halls worth of robot demos at iREX! Only in Tokyo do you learn about a huge robotics conference happening in your city a few days in advance, and you can immediately find fellow robot nerds to go with you on a Saturday 😄
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
(English in comments) 先日つくばの土木研究所にて複数の建設ロボットが自動的に協同作業する研究の公開実験をご見学させていただきました！人間用の建機をロボット化させて野外でロバストに協同制御してるの凄かったですし、単純にデカイロボットが動いてるのは見てて凄くかっこよかったです！
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
We uploaded our ICRA 6 minute presentation video to Youtube!
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ICRA 2023: OPT-Mimic 6 min Presentation Video

6 minute prerecorded presentation video for the paper "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors".

www.youtube.com
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
11 months
明日から始まるレスキューロボットの国際学会SSRR 2023に参加しに福島のJヴィレッジにやってきました！この分野では全くの素人なので、講義や施設のツアーを通してたくさんの情報を吸収したいと思います！とりあえず今日は地元の美味しいお酒で一人飲み👍
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
(English in comments) 僕の初の日本での研究プレゼンにこんなに素敵なイベントを企画していただいて、東大松尾研TRAILの皆様本当にありがとうございました！親睦会を通してお会いできた学生、教員、企業の皆様、これからもずっと繋がっていましょう!
@trail_ut
TRAIL (Tokyo Robotics and AI Lab) @RoboCup2024
@trail_ut
1 year
松尾研TRAILでは，ロボット学習に関係する研究者・技術者の交流イベント「松尾研TRAILロボナイト」をスタートしました． 第1回は渕岡湧仁 @yunifuchioka さんに，4足歩行ロボットの動作学習に関して講演いただきました． 第1回ロボナイト「渕岡湧仁さん講演会」を開催しました
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
10 months
[English] I wrote a Japanese blog post describing one of my favourite papers in the field of RL quadruped robotics, while also interleaving my own experiences in the field. The blog is in Japanese, but I'm happy to discuss the contents with my English friends at any time :)
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
今日初めて研究用のプレゼンスライドにいらすとやのイラストを入れてみました。これで僕も日本の研究者コミュニティーの仲間入りかな
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
The bipedal walking looks really robust! Also, I'm incredibly thrilled to receive my first citation😄
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@smithlaura1028
Laura Smith
@smithlaura1028
1 year
I'm very excited to share our super simple system for teaching robots complex tasks using existing controllers ◡̈ Building on our prior work, we've taught the A1 challenging skills like bipedal walking. We hope this general recipe simplifies training for all kinds of robots!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
11 months
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
11 months
I arrived in J Village, Fukushima, to attend the IEEE International Symposium on Safety, Security, and Rescue Robotics 2023 starting tomorrow! I'm really looking forward to the upcoming presentations and facility tours! For now I've been enjoying the local sake and seafood :)
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
10 months
@devemin 参考になったようで嬉しいです、ありがとうございます! ちなみに、紹介した論文から派生したであろう論文の一つに、安価な4足ロボットの足踏み仕草を強化学習で学ぶものがあります！良い制御のアイディアは色々なロボットでも実装できそうですね！
DR-GMBC

Abstract

sites.google.com
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
11 months
SSRR 2023 福島では、人命救助活動に関わってきたレスキューロボット分野の大先生、原発事故や廃炉の専門家、2011の災害の当事者などたくさんの方から貴重なお話を聞かせていただいたり、様々な施設の見学ツアーで実際に足を運ばないと感じられない体験ができたりと、とても貴重な経験ができました。
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
Better resolution image of me teleoperating the Avatar XPRIZE Team Nimbro robot. This was definitely my favorite robot demo!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
将来日本でロボット研究をしたいと思っているので、たくさんの日本人の方とも是非繋がりたいです!!!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
2 years
I am incredibly excited to start my research career with such a fun project! Huge thank you to @zhaomingxie and @Mvandepanne for their kind, effective, and attentive mentorship and contributions throughout all stages of the project!
@Mvandepanne
Michiel van de Panne
@Mvandepanne
2 years
We teach a Solo8 quadruped to walk as a biped (and more), using trajectory optimization + RL imitation. "OPT-Mimic: Imitation of Optimized Trajectories for Dynamic Quadruped Behaviors", with @yunifuchioka , @zhaomingxie
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
10 months
@WatakoLab 役に立てたようで嬉しいです。わざわざコメントありがとうございます!!!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
10 months
@KohHosoda 細田先生、とてもご丁寧にありがとうございます！確かに柔らか関節と報酬設計の関係性、気になりますね。さらに柔らかいロボットだと報酬設計をそんなに頑張らなくても機構的にある程度タスクを勝手にこなしてくれたりしたら嬉しいですね！
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
I attended a public demo of construction robot multi-agent control at the Public Works Research Institute in Tsukuba, Japan! It was cool to see standard construction machinery retrofitted to become robots, and I also learned that I really love seeing big robots move 🤣
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
7 months
@JeSuisYasu 個人的にはこちらのパズルなどを作ってるオランダの方を推してます
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OskarPuzzle

Oskar van Deventer's channel with new, innovative mechanical puzzles and mechanisms, mostly designed by Oskar, (c) 1978 - present.

www.youtube.com
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
9 months
@KohHosoda 素晴らしい、わざわざ論文までご紹介いただきありがとうございます！全く同意です！
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
11 months
人の命や大切な物を守るためのロボット研究活動は凄く尊敬できる事だと感じ、僕もいつかは何らかの形でこういった研究に貢献したいと思います。
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
この実験はこちらのJSTムーショットプロジェクトの一部だそうです。This demo was part of this nation-wide research project in Japan: [JP] [EN]
The Moonshot Research and Development Program

The Moonshot Research and Development Program WEBSITE

moonshot-cafe-project.org
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
@smithlaura1028 Congratulations, the bipedal stepping results are amazing!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
Project website:
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
何回か同じ内容で公演したことがあるのですが、今までで一番面白い質問を沢山頂けて、凄く楽しかったです！1月にスイスに引っ越すまでは日本にいるので、これからも是非とも日本各地の研究所をご訪問させて頂きたいです!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
9 months
@lambda_robot 確かにAtlasの機構と制御理念は産業用ロボットとは違うかもしれないですね！こちらの動画（58:35）ではAtlasには機構的な柔らかさは無い方が望ましいが、代わりに各タスクごとに剛性を変えられる制御的な柔らかさの方が汎用的、と述べられていますね。
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"Recent Progress on Atlas, the World’s Most Dynamic Humanoid Robot" -...

Recent Progress on Atlas, the World’s Most Dynamic Humanoid Robot: Scott Kuindersma (Boston Dynamics)Abstract: The Atlas project at Boston Dynamics aims to m...

www.youtube.com
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
9 months
@lambda_robot ありがとうございます！ 二足の強化学習で歩くバネロボットCassieは、アクチュエーター内ではなくリンク機構の中に板バネが含まれているそうです！機械設計についてはこちらの博論に詳しく記載しています！（18ページにリンク機構の分かりやすい図があります）
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
10 months
@porizou1 紹介していただき、ありがとうございます！
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
@breadli428 I'm so excited to meet you in person Chenhao :)
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
Thank you UTokyo Matsuo Lab TRAIL for inviting me to give my first ever talk in Japan! I hope to stay in touch with all of the students, faculty members, and industrial researchers that I had the pleasure of meeting in the social event afterwards!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
9 months
@chizu_potato 学部も修士もUBCなので、なにか質問があったら気軽にご連絡ください！
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
@eastskykang Yes, I'm really exited to meet you as well Dongho! I'm a great fan of your quadruped work!
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
@danielajisafe @Ed__Johns I wasn't here during this particular robot circle, but I've seen them walk around many times!! :)
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@yunifuchioka
Yuni Fuchioka 渕岡湧仁
@yunifuchioka
1 year
I gave the same presentation several times in the past, but this time I received the most interesting and difficult questions :) I'm in Japan until I move to Switzerland in January, so I hope to visit many more labs in Japan during my time here!
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