Takuma Yoneda
米田 拓真
- Chicago
- PhD candidate at TTIC
- Reinforcement Learning, Robotics and NLP
- takuma (at) ttic.edu
I am a PhD candidate at TTIC, an academic institute located on the campus of the Univ. of Chicago. My research interest includes Reinforcement Learning and Natural Language Processing, especially in the context of Robotics. I am now at Robot Intelligence through Perception Lab working with Bradly Stadie and Matthew R. Walter.
I've published papers on LLM x Robotics (ICRA '24), Bridging domain gaps in RL (RSS '22, RA-L '21), RL theory (ICML '23, ICLR '24), and Diffusion Models for Robotics (RSS '23, CoRL '23, in-submission).
In the past, I interned at University College London at Sebastian Riedel's group, and led a project on fact extraction and verification. I also interned at Preferred Networks, Inc. and worked on Deep RL for multi-agent cooperation with communication.
TTIC featured me recently: Takuma Yoneda - Student Highlight
🔥 I'm on the job market now 🔥
Please feel free to reach out: takuma (at) ttic.edu
You can find my Curriculum Vitae here
Publications (Google Scholar)
- 6-DoF Stability Field via Diffusion Models
Takuma Yoneda*, Tianchong Jiang*, Gregory Shakhnarovich and Matthew R. Walter
In submission
- Statler: STATe-maintaining Language models for Embodied Reasoning
Takuma Yoneda*, Jiading Fang*, Peng Li*, Huanyu Zhang*, Tianchong Jiang, Ben Picker, David Yunis, Shengjie Lin, Luzhe Sun, Richard Xu, Hongyuan Mei and Matthew Walter
To appear at ICRA 2024
- Blending Imitation and Reinforcement Learning for Robust Policy Improvement
Xuefeng Liu, Takuma Yoneda, Matthew Walter, Yuxin Chen and Rick L. Stevens
ICLR 2024 (Spotlight: Top 5%)
- Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States
Zidan Wang, Takeru Oba, Takuma Yoneda, Rui Shen, Matthew Walter and Bradly C. Stadie
CoRL 2023
- Active Policy Improvement from Multiple Black-box Oracles
Xuefeng Liu*, Takuma Yoneda*, Chaoqi Wang*, Matthew Walter and Yuxin Chen
ICML 2023
- To the Noise and Back: Diffusion for Shared Autonomy
Takuma Yoneda, Luzhe Sun, Ge Yang, Bradly C. Stadie and Matthew R. Walter
RSS 2023
- Invariance Through Latent Alignment
Takuma Yoneda*, Ge Yang*, Matthew R. Walter and Bradly C. Stadie
RSS 2022
- A Robot Cluster for Reproducible Research in Dexterous Manipulation
Stefan Bauer, Felix Widmaier, Manuel Wüthrich, Niklas Funk, Julen Urain De Jesus, Jan Peters, Joe Watson, Claire Chen, Krishnan Srinivasan, Junwu Zhang, Jeffrey Zhang, Matthew R. Walter, Rishabh Madan, Charles Schaff, Takahiro Maeda, Takuma Yoneda, Denis Yarats, Arthur Allshire, Ethan K. Gordon, Tapomayukh Bhattacharjee, Siddhartha S. Srinivasa, Animesh Garg, Annika Buchholz, Sebastian Stark, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vaibhav Agrawal and Bernhard Schölkopf
arXiv:2109.10957 2021
- Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation
Niklas Funk*, Charles Schaff*, Rishabh Madan*, Takuma Yoneda*, Julen Urain De Jesus, Joe Watson, Ethan K. Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S. Srinivasa, Tapomayukh Bhattacharjee, Matthew R. Walter and Jan Peters
IEEE Robotics and Automation Letters 2021
- Grasp and Motion Planning for Dexterous Manipulation for the Real Robot Challenge
Takuma Yoneda*, Charles Schaff*, Takahiro Maeda and Matthew R. Walter
arXiv:2101.02842 2021
- Pow-Wow: A Dataset and Study on Collaborative Communication in Pommerman
Takuma Yoneda, Matthew R. Walter and Jason Naradowsky
the First Workshop on Language in Reinforcement Learning (LaReL), ICML 2020
- UCL Machine Reading Group: Four Factor Framework For Fact Finding (HexaF)
Takuma Yoneda, Jeff Mitchell, Johannes Welbl, Pontus Stenetorp and Sebastian Riedel
Proceedings of the First Workshop on Fact Extraction and VERification (FEVER), EMNLP 2018
- Bib2vec: An Embedding-based Search System for Bibliographic Information
Takuma Yoneda, Koki Mori, Makoto Miwa and Yutaka Sasaki
EACL 2017
Internships
- Preferred Networks, Inc. (Tokyo, Japan; 2019 Summer)
- University College London (London, UK; 2018 Summer)
- VASILY, Inc. (Tokyo, Japan; 2017 Summer)
- Yamaha Motor Corporation (Shizuoka, Japan; 2017 Spring)