Author

Takehiko Ohkawa

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#artificial intelligence Preprint Oct 2026

YUBI-Real2Sim: 3DGS Scene Verification for Reliable Policy Evaluation

Evaluating VLA policies on real robots is costly, time-consuming, and difficult to reproduce, making real-to-sim simulation essential for scalable evaluation. While 3D Gaussian Splatting (3DGS) enables rapid real-to-sim scene generation, the reconstruction quality required for reliable policy evaluation remains unquant...

Hiroki Nishizawa, Takehiko Ohkawa, Nicola Scianca et al. · 0 citations

Preprint Oct 2026

RoboPace: Contact-Aware Time-Optimal Retiming for Action-Chunk Policies

Robot manipulation data collection has been shifting from teleoperation toward robot-free demonstrations, through interfaces such as the Universal Manipulation Interface (UMI) or directly from human hands. Vision-Language-Action (VLA) policies trained on such data inherit the demonstrator's timing. Yet human timing doe...

Mimo Shirasaka, Takehiko Ohkawa, Takuya Okubo et al. · 0 citations