Jun Yamada
I am a DPhil student in the Applied AI Lab (A2I Lab) at the University of Oxford advised by Professor Ingmar Posner.
I was a visiting student at the University of Southern California, advised by Professor Joseph J. Lim. I did my master at University College London, supervised by Professor John Shawe-Taylor and Dr. Zafeirios Fountas. I got my bachelor degree at Keio University, advised by Professor Akito Sakurai.
  
  
  
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News
- [July 2024] Joining Seattle Robotics Lab at NVIDIA this summer as an intern!
- [March 2024] One paper is accepted to L4DC!
- [Feb 2024] One paper is accepted to TMLR!
- [Jan 2024] One paper is accepted to ICRA 2024!
- [Oct 2023] One paper is accepted to RA-L!
- [Sep 2023] One paper is accepted to IEEE Humanoid!
- [Jan 2023] One paper is accepted to ICRA 2023!
- [Jan 2022] Our TARP paper accepted to ICLR 2022!
- [Oct 2020] Our MoPA-RL paper on accepted to CoRL 2020!
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Research
I am boradly interested in rapid skill acquisition for complex manipulation tasks, with a particular focus on leveraging generative models. So far, I have been working on (1) combining motion planning and a learning-based policy for manipulation tasks in complex environments, (2) learning-based motion planning/trajectory optimisation, and (3) world modelling for efficient skill acquisition. I have also started working on bimanual manipulation because bimanual coordination is often necessary to achieve complex manipulation tasks such as assembly.
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D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation
Jun Yamada,
Shaohong Zhong,
Jack Collins,
Ingmar Posner,
Project page /
arXiv
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Efficient Skill Acquisition for Industrial Insertion Tasks in Obstructed Environments
Jun Yamada,
Jack Collins,
Ingmar Posner,
2024, Learning for Dynamics & Control Conference (L4DC)
Project page /
arXiv
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World Models via Policy-Guided Trajectory Diffusion
Marc Rigter,
Jun Yamada,
Ingmar Posner,
Transactions on Machine Learning Research (TMLR)
arXiv
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TWIST: Teacher-Student World Model Distillation for Efficient Sim-to-Real Transfer
Jun Yamada,
Marc Rigter,
Jack Collins,
Ingmar Posner,
2024 IEEE International Conference on Robotics and Automation (ICRA)
Project page /
arXiv
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RAMP: A Benchmark for Evaluating Robotic Assembly Manipulation and Planning
Jack Collins*,
Mark Robson*,
Jun Yamada*,
Mohan Sridharan,
Karol Janik,
Ingmar Posner,
Robotics and Automation Letters (RAL) with presentation at the International Conference of Robotics and Automation (ICRA), 2024
Project page /
arXiv
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LfDT: Learning Dual-Arm Manipulation from Demonstration Translated from a Human and Robotic Arm
Masato Kobayashi*,
Jun Yamada*,
Masashi Hamaya,
Kazutoshi Tanaka,
2023 IEEE-RAS International Conference on Humanoid Robots
Project page /
arXiv
Work done during internship at OMRON SINIC X Corp.
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From Primates to Robots: Emerging Oscillatory Latent-Space Dynamics for Sensorimotor Control
Alexander Luis Mitchell,
Oiwi Parker Jone,
Jun Yamada,
Wolfgang Merkt,
Ioannis Havoutis,
Ingmar Posner,
2023 Conference on Cognitive Computational Neuroscience (CCN),
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Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Jun Yamada*,
Chia-Man Hung*,
Jack Collins,
Ioannis Havoutis,
Ingmar Posner,
2023 IEEE International Conference on Robotics and Automation (ICRA),
The 4th UK Robot Manipulation Workshop, 2023 (Best Poster Award)
Project page /
arXiv
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Task-Induced Representation Learning
Jun Yamada,
Karl Pertsch,
Anisha Gunjal,
Joseph J Lim,
International Conference on Learning Representations (ICLR), 2022
Project page /
OpenReview /
arXiv
We evaluate the effectiveness of representation learning approaches on visually complex environments with substantial distractors. We compare common unsupervised representation learning approaches to task-induced representations, that leverage task information from prior tasks to learn what parts of the scene are important to model and what parts can be ignored.
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Motion Planner Augmented Reinforcement Learning for Robot Manipulation in Obstructed Environments
Jun Yamada*,
Youngwoon Lee*,
Gautam Salhotra,
Karl Pertsch,
Max Pflueger,
Gaurav S Sukhatme,
Joseph J Lim,
Peter Englert,
Conference on Robot Learning (CoRL), 2020
Project page /
arXiv
Our approach augments model-free RL agents with motion planning capabilities, enabling them to solve long-horizon manipulation tasks in cluttered environments.
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Evolution of a Complex Predator-Prey Ecosystem on Large-scaleMulti-Agent Deep Reinforcement Learning
Jun Yamada,
John Shawe-Taylor,
Zafeirios Fountas
International Joint Conference on Neural Networks (IJCNN), 2020
arXiv
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