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ARNOLD SOLVI FYLGJA

Academic OrganizationTEL
Education and Research OrganizationFaculty of EngineeringFAX
PositionAssociate ProfessorMail Address
Address4-17-1, Wakasato, Nagano City 380-8553, Mechanical Engineering south tower, room 405Web site

Profile

Research Field
Artificial Intelligence
Intelligent robotics
Keywords:Neural Networks , Computer Vision , Planning Disaster Robotics , Deformable Object Manipulation , 柔軟物体操作
Academic Background
Graduate School
Nagoya University , (Complex Systems Science , Graduate School of Information Science) , 2015
Utrecht University , (Cognitive Artificial Intelligence , Graduate School of Natural Sciences) , 2010

College
Utrecht University , (Faculty of Humanities) , 2007

Degree
PhD (Information Science) , Nagoya University (Japan)
BSc , Utrecht University (The Netherlands)
Awards
2022 , Outstanding Reviewer Award
Research Career
Research Career
2021- , Project Associate Professor, Faculty of Engineering, Shinshu University
2019-2021 , Project Lecturer, Faculty of Engineering, Shinshu University
2017-2019 , Project Assistant Professor
2015-2017 , Researcher (Shinshu University, Department of Engineering)
2013-2015 , JSPS Research Fellow (DC2)

Research

Books, Articles, etc.
Books
Disaster Robotics -Results from the ImPACT Tough Robotics Challenge-Chapter: Cyber-Enhanced Rescue Canine
Springer 2019(Jan.)
Author:Kazunori Ohno, Ryunosuke Hamada, Tatsuya Hoshi, Hiroyuki Nishinoma, Shumpei Yamaguchi, Solvi Arnold, Kimitoshi Yamazaki
Abstract:Disaster Robotics -Results from the ImPACT Tough Robotics Challenge-Chapter: Cyber-Enhanced Rescue Canine Springer


Articles
Recognising Affordances in Predicted Futures to Plan With Consideration of Non-Canonical Affordance Effects
IEEE Robotics and Automation Letters,8(3):1455-1462 2023(Mar.)
Author:Solvi Arnold; Mami Kuroishi; Rin Karashima; Tadashi Adachi; Kimitoshi Yamazaki


Cloth manipulation planning on basis of mesh representations with incomplete domain knowledge and voxel-to-mesh estimation
Frontiers in Neurorobotics,16 2023(Jan. 05)
Author:Solvi Arnold; Daisuke Tanaka; Kimitoshi Yamazaki
Abstract:Cloth manipulation is common in both housework and manufacturing. However, robotic cloth manipulation remains challenging, especially for less controlled and open-goal settings. We consider the problem of open-goal planning for robotic cloth manipulation, with focus on the roles of cloth representation and epistemic uncertainty. Core of our system is a neural network trained as a forward model of cloth behaviour under manipulation, with planning performed through backpropagation. We introduce a neural network-based routine for estimating mesh representations from voxel input, and perform planning in mesh format internally. We address the problem of planning with incomplete domain knowledge by introducing an explicit epistemic uncertainty penalty, using prediction divergence between two instances of the forward model network as a proxy of epistemic uncertainty. This allows us to avoid plans with high epistemic uncertainty during planning. Finally, we introduce logic for handling restriction of grasp points to a discrete set of candidates, in order to accommodate graspability constraints imposed by robotic hardware. We evaluate the system’s mesh estimation, prediction, and planning ability on simulated cloth for sequences of one to three manipulations. Comparative experiments confirm that planning on basis of estimated meshes improves accuracy compared to voxel-based planning, and that epistemic uncertainty avoidance improves performance under conditions of incomplete domain knowledge. Planning time cost is a few seconds. We additionally present qualitative results on robot hardware. Our results indicate that representation format and epistemic uncertainty are important factors to consider for open-goal cloth manipulation planning.


Visual Servoing in Virtualized Environments Based on Optical Flow Learning and Constrained Optimization
International Journal of Robotics and Automation,38(10) 2023
Author:Takuya Iwasaki; Solvi Arnold; Kimitoshi Yamazaki


Development of a continuum robot enhanced with distributed sensors for search and rescue
ROBOMECH Journal,9(1) 2022(Dec.)
Author:Yu Yamauchi; Yuichi Ambe; Hikaru Nagano; Masashi Konyo; Yoshiaki Bando; Eisuke Ito; Solvi Arnold; Kimitoshi Yamazaki; Katsutoshi Itoyama; Takayuki Okatani; Hiroshi G. Okuno; Satoshi Tadokoro
Abstract:Abstract Continuum robots can enter narrow spaces and are useful for search and rescue missions in disaster sites. The exploration efficiency at disaster sites improves if the robots can simultaneously acquire several pieces of information. However, a continuum robot that can simultaneously acquire information to such an extent has not yet been designed. This is because attaching multiple sensors to the robot without compromising its body flexibility is challenging. In this study, we installed multiple small sensors in a distributed manner to develop a continuum-robot system with multiple information-gathering functions. In addition, a field experiment with the robot demonstrated that the gathered multiple information has a potential to improve the searching efficiency. Concretely, we developed an active scope camera with sensory functions, which was equipped with a total of 80 distributed sensors, such as inertial measurement units, microphones, speakers, and vibration sensors. Herein, we consider space-saving, noise reduction, and the ease of maintenance for designing the robot. The developed robot can communicate with all the attached sensors even if it is bent with a minimum bending radius of 250 mm. We also developed an operation interface that integrates search-support technologies using the information gathered via sensors. We demonstrated the survivor search procedure in a simulated rubble environment of the Fukushima Robot Test Field. We confirmed that the information provided through the operation interface is useful for searching and finding survivors. The limitations of the designed system are also discussed. The development of such a continuum robot system, with a great potential for several applications, extends the application of continuum robots to disaster management and will benefit the community at large.


Online State Estimation Using Optical Flow for Passing an Arm Through a Shirt Sleeve
Journal of the Robotics Society of Japan,40(9):817-826 2022(Nov.)
Author:Takahiro Yamazaki; Solvi Arnold; Kimitoshi Yamazaki


Cloth Manipulation with Estimation of Material Properties
第40回日本ロボット学会学術講演会(RSJ2022) 2022(Sep.)
Author:Solvi Arnold; Kimitoshi Yamazaki


ニューラルネットワークを用いたモデル予測制御に基づく人との協調着衣
第40回日本ロボット学会学術講演会(RSJ2022) 2022(Sep.)
Author:山崎隆広; 高瀬裕; アーノード・ソービ; 山崎公俊


布のオンライン状態推定に基づく袖通し作業の実現
計測自動制御学会中部支部シンポジウム2021 2021(Oct.)
Author:山崎隆広; Solvi ARNOLD; 山崎公俊


Disruption-Resistant Deformable Object Manipulation on Basis of Online Shape Estimation and Prediction-Driven Trajectory Correction
IEEE Robotics and Automation Letters,6(2):3809-3816 2021(Apr.)
Author:Daisuke Tanaka; Solvi Arnold; Kimitoshi Yamazaki


柔軟物形状のオンライン推定および予測に基づく操作行動生成
第26回ロボティクスシンポジア,:92-94 2021(Mar.)
Author:山崎公俊; 田中大輔; アーノード・ソービ


Picking of One Sheet of Cotton Cloth by Rolling up Using Cylindrical Brushes
2021 IEEE/SICE International Symposium on System Integration (SII) 2021(Jan. 11)
Author:Yuichi Kawasaki; Solvi Arnold; Kimitoshi Yamazaki


Visual Servoing Using Virtual Space for Both Learning and Task Execution
2021 IEEE/SICE International Symposium on System Integration (SII) 2021(Jan. 11)
Author:Tomoki Kawagoshi; Solvi Arnold; Kimitoshi Yamazaki


Active Learning of the Cutting of Cooking Ingredients using Simulation with Object Splitting
2020 IEEE/SICE International Symposium on System Integration (SII) 2020(Jan.)
Author:Nahomi Ikegami; Solvi Arnold; Kotaro Nagahama; Kimitoshi Yamazaki


Fast and Flexible Multi-Step Cloth Manipulation Planning using an Encode-Manipulate-Decode NetworkNetwork (EM*D Net)
Frontiers Neurorobotics,13 2019(May 31)
Author:Solvi Arnold; Kimitoshi Yamazaki
Abstract:We propose a deep neural network architecture, the Encode-Manipulate-Decode (EM*D) net, for rapid manipulation planning on deformable objects. We demonstrate its effectiveness on simulated cloth. The net consists of 3D convolutional encoder and decoder modules that map cloth states to and from latent space, with a ''manipulation module'' in between that learns a forward model of the cloth's dynamics w.r.t. the manipulation repertoire, in latent space. The manipulation module's architecture is specialized for its role as a forward model, iteratively modifying a state representation by means of residual connections and repeated input at every layer. We train the network to predict the post-manipulation cloth state from a pre-manipulation cloth state and a manipulation input. By training the network end-to-end, we force the encoder and decoder modules to learn a latent state representation that facilitates modification by the manipulation module. We show that the network can achieve good generalization from a training dataset of 6,000 manipulation examples. Comparative experiments without the architectural specializations of the manipulation module show reduced performance, confirming the benefits of our architecture. Manipulation plans are generated by performing error back-propagation w.r.t. the manipulation inputs. Recurrent use of the manipulation network during planning allows for generation of multi-step plans. We show results for plans of up to three manipulations, demonstrating generally good approximation of the goal state. Plan generation takes <2.5 s for a three-step plan and is found to be robust to cloth self-occlusion, supporting the approach' viability for practical application.


An image recognition system aimed at search activities using cyber search and rescue dogs
Journal of Field Robotics,36(4):677-695 2018(Dec. 03)
Author:Solvi Arnold; Kazunori Ohno; Ryunosuke Hamada; Kimitoshi Yamazaki
Abstract:Journal of Field Robotics


EM*D-net による動作生成と形状予測に基づく布製品の操作
日本機械学会論文集,84(864) 2018(Aug. 25)
Author:田中大輔; アーノード・ソービ; 山崎公俊
Abstract:日本機械学会論文集


二次学習の進化による心的表象の創発
人工知能学会誌,33(4):476-483 2018(Jul. 01)
Author:有田隆也; Arnold Solvi; 鈴木麗璽
Abstract:人工知能学会誌


遠隔移動体を用いた災害時捜索活動のための画像認識システム
画像ラボ,29(2):7-14 2018(Feb.)
Author:山崎公俊; Solvi Arnold
Abstract:画像ラボ


The emergence of executive functions by the evolution of second-order learning
Artificial Life and Robotics,22(4):483–489 2017(Dec. 01)
Author:Keisuke Daimon; Solvi Arnold; Reiji Suzuki; Takaya Arita
Abstract:Artificial Life and Robotics


Unfolding of a rectangular cloth from unarranged starting shapes by a Dual-Armed robot with a mechanism for managing recognition error and uncertainty
Advanced Robotics, Vol.31, Issue 10, pp. 544 – 556, http://dx.doi.org/10.1080/01691864.2017.1285722,31(10):544-556 2017(Feb. 09)
Author:Hiroyuki Yuba; Solvi Arnold; Kimitoshi Yamazaki
Abstract:Advanced Robotics, Vol.31, Issue 10, pp. 544 – 556, http://dx.doi.org/10.1080/01691864.2017.1285722


Selection for Representation in Higher-Order Adaptation
Minds & Machines,25:73-95 2015(Feb. 20)
Author:Solvi Arnold; Reiji Suzuki; Takaya Arita
Abstract:Minds & Machines


Why artificial intelligence cannot be creative without being Intelligent11
Nagoya Journal of Philosophy,11:62-77 2014(Mar. 14)
Author:Solvi Arnold
Abstract:Nagoya Journal of Philosophy


Selection for Reinforcement-Free Learning Ability as an Organizing Factor in the Evolution of Cognition
Advances in Artificial Intelligence,2013 2013(Mar. 31)
Author:Solvi Arnold; Reiji Suzuki; Takaya Arita
Abstract:Advances in Artificial Intelligence


Presentations
Cloth Manipulation on basis of Online Material Property Estimation
The 28th Robotics Symposia 2023(Mar. 16)
Presenter:Solvi Arnold; Kimitoshi Yamazaki


掃引体積検索に基づく動作計画における逐次二次計画を用いた即応的経路変更
The 40st Annual Conference of the RSJ 2022(Sep. 09)
Presenter:岩崎拓也; 高瀬 裕; アーノード・ソービ; 竹下佳佑; 山崎公俊


Cloth Manipulation with Estimation of Material Properties
The 40st Annual Conference of the RSJ 2022(Sep. 08)
Presenter:Solvi Arnold; Kimitoshi Yamazaki


ニューラルネットワークを用いたモデル予測制御に基づく人との協調着衣
The 40st Annual Conference of the RSJ 2022(Sep. 06)
Presenter:山崎隆広; 高瀬裕; アーノード・ソービ; 山崎公俊


柔軟物形状のオンライイン推定および予測に基づく操作行動生成
第26回ロボティクスシンポジア 2021(Mar. 16)
Presenter:山崎公俊,田中大輔,アーノードソービ


Visual Servoing Using Virtual Space for Both Learning and Task Execution
The 2021 IEEE/SICE International Symposium on System Integration 2021(Jan. 13)
Presenter:Tomoki Kawagoshi , Solvi Arnold , Kimitoshi Yamazaki


Picking of One Sheet of Cotton Cloth by Rolling up Using Cylindrical Brushes
The 2021 IEEE/SICE International Symposium on System Integration 2021(Jan. 12)
Presenter:Yuichi Kawasaki, Solvi Arnold , Kimitoshi Yamazaki


Learning Latent Representations of Environments and Grasping Motions for Fast Database Retrieval of Environments and Grasping Motions for Fast Database Retrieval of Collision-Free Motions
第38回日本ロボット学会学術講演会 RSJ2020 2020(Oct. 10)
Presenter:Solvi Arnold, Keisuke Takeshita, Takashi Yamamoto, Rui Zhu, Kotaro Nagahama, Kimitoshi Yamazaki
Abstract:第38回日本ロボット学会学術講演会 RSJ2020


Cloth Manipulation Planning with Mesh Representations and Incomplete Domain Knowledge
第38回日本ロボット学会学術講演会 RSJ2020 2020(Oct. 09)
Presenter:Solvi Arnold, Daisuke Tanaka, Kimitoshi Yamazaki
Abstract:第38回日本ロボット学会学術講演会 RSJ2020


操作中の形状変化予測に基づく柔軟物操作のためのオンライン操作軌道探索
第38回日本ロボット学会学術講演会 RSJ2020 2020(Oct. 09)
Presenter:田中大輔, Solvi Arnold, 山崎公俊
Abstract:第38回日本ロボット学会学術講演会 RSJ2020


Active Learning of the Cutting of Cooking Ingredients using Simulation with Object Splitting
The 2020 IEEE/SICE International Symposium on System Integration 2020(Jan. 15)
Presenter:Nahomi Ikegami, Solvi Arnold, Kotaro Nagahama, Kimitoshi Yamazaki
Abstract:The 2020 IEEE/SICE International Symposium on System Integration


円筒ブラシを用いた綿布取り出し作業の自動化
計測自動制御学会中部支部シンポジウム2019 2019(Sep. 24)
Presenter:川崎雄一,Solvi Arnold,山崎公俊
Abstract:計測自動制御学会中部支部シンポジウム2019


Neural Network Architectures for Estimating Mesh Representations of Cloth Objects
第37回日本ロボット学会学術講演会 2019(Sep. 06)
Presenter:Solvi Arnold,Kimitoshi Yamazaki
Abstract:第37回日本ロボット学会学術講演会


An Object Recognition System for Disaster Robotics – UI Design and Platform Integration –
第36回日本ロボット学会学術講演会 RSJ2018 2018(Sep. 05)
Presenter:Solvi Arnold, Kimitoshi Yamazaki:
Abstract:第36回日本ロボット学会学術講演会 RSJ2018


物理シミュレーターを用いた衣服移動を抑えた折り畳み軌道の獲得」
SICE中部支部シンポジウ2018 2018(Sep.)
Presenter:津田 翔, Solvi ARNOLD, 山崎公俊
Abstract:SICE中部支部シンポジウ2018


A Neural Network Approach for Fast and Flexible Multi-Step Cloth Manipulation Planning
Third Machine Learning in Planning and Control of Robot Motion Workshop at ICRA2018 2018(May)
Presenter:Solvi Arnold, Kimitoshi Yamazaki
Abstract:Third Machine Learning in Planning and Control of Robot Motion Workshop at ICRA2018


Cloth Manipulation Planning by Back-propagation using a 3D Convolutional Auto-Encoder and aRecurrent Neural Network
第35回日本ロボット学会学術講演会 2017(Sep. 13)
Presenter:Solvi Arnold, Kimitoshi Yamazaki
Abstract:第35回日本ロボット学会学術講演会


Real-time scene parsing by means of a convolutional neural network for mobile robots in disaster scenarios
IEEE International Conference on Information and Automation 2017(Jul. 18)
Presenter:Solvi Arnold, Kimitoshi Yamazaki
Abstract:IEEE International Conference on Information and Automation


Hanging Work of T-Shirt in Consideration of Deformability and Stretchability
IEEE International Conference on Information and Automation 2017(Jul. 18)
Presenter:Yosuke Koishihara, Solvi Arnold, Kimitoshi Yamazaki, Takamitsu Matsubara
Abstract:IEEE International Conference on Information and Automation


サイバー救助犬の屋外探索活動における環境認識補助視覚の適用
ロボティクス・メカトロニクス講演会2017 2017(May 12)
Presenter:山崎公俊,松田耕太郎,Solvi Arnold,星達也,山口竣平,濱田龍之介,大野和則
Abstract:ロボティクス・メカトロニクス講演会2017


Emergence of executive functions by evolved second-order learning
The 22nd International Symposium on Artificial Life and Robotics (AROB2017) 2017(Jan. 18)
Presenter:Keisuke Daimon, Solvi Arnold, Reiji Suzuki and Takaya Arita
Abstract:The 22nd International Symposium on Artificial Life and Robotics (AROB2017)


Implicit Policies for Deformable Object Manipulation with Arbitrary Start and End States: A Novel Evolutionary Approach
2016 IEEE Conference on Robotics and Biomimetics 2016(Dec. 06)
Presenter:Solvi Arnold, Kimitoshi Yamazaki
Abstract:2016 IEEE Conference on Robotics and Biomimetics


畳み込み自己符号化器を用いた対話的学習に基づく災害対応のための画像認識システム
第22回ロボティクスシンポジア 2016(Mar. 16)
Presenter:Arnold Solvi, 山崎公俊
Abstract:第22回ロボティクスシンポジア


Unfolding of a Rectangular Cloth Based on Action Selection Depending on Recognition Uncertainty
IEEE/SICE International Symposium on System Integration 2015(Dec.)
Presenter:Hiroyuki Yuba, Solvi Arnold, Kimitoshi Yamazaki
Abstract:IEEE/SICE International Symposium on System Integration


Using Second Order Learning to Evolve Social Representation (Theory of Mind)
The 8th International Conference on Bio-inspired Information and Communications Technologies 2014(Dec. 01)
Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita
Abstract:The 8th International Conference on Bio-inspired Information and Communications Technologies


Evolution of Social Representation in Neural Networks
Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems (ECAL2013) 2013(Sep. 04)
Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita
Abstract:Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems (ECAL2013)


Evolution of Social Representation in Neural Networks
第27回人工知能学会全国大会 2013(Jun. 06)
Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita
Abstract:第27回人工知能学会全国大会


Second order learning and the evolution of mental representation
Proceedings of the 13th International Conference on the Simulation and Synthesis of Living Systems (ALIFE2012) 2012(Jun. 21)
Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita
Abstract:Proceedings of the 13th International Conference on the Simulation and Synthesis of Living Systems (ALIFE2012)


Modelling Mental Representation as Evolved Second Order Learning
Proceedings of the 17th International Symposium on Artificial Life and Robotics (AROB2012) 2012(Jan. 19)
Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita
Abstract:Proceedings of the 17th International Symposium on Artificial Life and Robotics (AROB2012)


Neuro-cognitive Organization as a Side-effect of the Evolution of Learning Ability
Proceedings of the 2011 IEEE Symposium on Artificial Life 2011(Apr. 11)
Presenter:Solvi Arnold, Reiji Suzuki, Takaya Arita
Abstract:Proceedings of the 2011 IEEE Symposium on Artificial Life

Patents
Patents
操作方法生成システム
画像判別装置及び画像判別方法
Research Grants
Grants‐in‐aid for Scientific Research(Research Representative)
2023 - 2025 , Baldwinian Evolution of Task-Specialised High-Efficiency Learning in Neural Networks , 基盤研究(C)(一般)

Grants‐in‐aid for Scientific Research(Researcher)
2023 - 2027 , 柔軟物表現の再編成に基づく精緻な柔軟物操作能力の獲得 , 基盤研究(A)