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ARNOLD SOLVI FYLGJA  アーノード ソービ フルヒャ

教員組織電話番号
教育組織工学部FAX番号
職名准教授(特定雇用)メールアドレス
住所〒380-8553 長野県長野市若里4-17-1 機械システム工学科南東405ホームページURL

プロフィール

研究分野
人工知能
キーワード:ニューラルネットワーク , コンピュータビジョン , プラニング , 災害ロボティクス , 柔軟物体操作
学歴
出身大学院
2015 , 名古屋大学 , 情報科学研究科 , 複雑系科学
2010 , ユトレヒト大学 , 自然科学研究科 , 認知人工知能

出身学校・専攻等(大学院を除く)
2007 , ユトレヒト大学 , 人文学部 , 認知人工知能

取得学位
博士(情報科学) , 名古屋大学(日本)
修士 , ユトレヒト大学(オランダ)
研究職歴等
研究職歴
2017-2019 , 助教(特定雇用)
2015-2017 , 研究員 (信州大学工学部)
2013-2015 , 日本学術振興会特別研究員(DC2)

研究活動業績

研究業績(著書・
発表論文等)
書籍等出版物
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


論文
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 Apri( 20)
Author:Daisuke Tanaka, Solvi Arnold, Kimitoshi Yamazaki
Abstract:We consider the problem of deformable object manipulation with variable goal states and mid-manipulation disruptions. We propose an approach that integrates online shape estimation, prediction of shape transitions, and mid-manipulation trajectory correction. All functionalities are implemented using two neural network architectures. We apply this approach to the problem of cloth folding, and perform evaluation experiments in simulation and on robot hardware. We demonstrate that the system can achieve good approximation of given goal states, even when the manipulation process is disrupted by cloth slipping or external interference.


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


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


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


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


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


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
Keywords:Cloth unfolding, dual-armed manipulation, pinch and slide motion


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


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


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


講演・口頭発表等
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


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


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


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


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


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


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:


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


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


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


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


Real-time scene parsing by means of a convolutional neural network for mobile robots in disaster scenarios
IEEE International Conference on Information and Automation 201-207 2017(Jul. 18)
Presenter:Solvi Arnold, Kimitoshi Yamazaki
Keywords:disaster robotics, rescue robots, computer vision, convolutional neural networks, scene parsing


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


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


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


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


Unfolding of a Rectangular Cloth Based on Action Selection Depending on Recognition Uncertainty
IEEE/SICE International Symposium on System Integration 623 – 628 2015(Dec.)
Presenter:Hiroyuki Yuba, Solvi Arnold, Kimitoshi Yamazaki


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


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


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


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


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


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

特許等知的財産
登録済特許
画像判別装置及び画像判別方法