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Masaru Ito

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2 papers
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2

JMLR Journal 2023 Journal Article

A Parameter-Free Conditional Gradient Method for Composite Minimization under Hölder Condition

  • Masaru Ito
  • Zhaosong Lu
  • Chuan He

In this paper we consider a composite optimization problem that minimizes the sum of a weakly smooth function and a convex function with either a bounded domain or a uniformly convex structure. In particular, we first present a parameter-dependent conditional gradient method for this problem, whose step sizes require prior knowledge of the parameters associated with the Hölder continuity of the gradient of the weakly smooth function, and establish its rate of convergence. Given that these parameters could be unknown or known but possibly conservative, such a method may suffer from implementation issue or slow convergence. We therefore propose a parameter-free conditional gradient method whose step size is determined by using a constructive local quadratic upper approximation and an adaptive line search scheme, without using any problem parameter. We show that this method achieves the same rate of convergence as the parameter-dependent conditional gradient method. Preliminary experiments are also conducted and illustrate the superior performance of the parameter-free conditional gradient method over the methods with some other step size rules. [abs] [ pdf ][ bib ] &copy JMLR 2023. ( edit, beta )

IROS Conference 2019 Conference Paper

Evaluation System for Hydraulic Excavator Operation Skill Using Remote Controlled Excavator and Virtual Reality

  • Ryota Sekizuka
  • Masaru Ito
  • Seiji Saiki
  • Yoichiro Yamazaki
  • Yuichi Kurita

We developed a system to evaluate the skill of operating a hydraulic excavator using a remotely controlled (RC) excavator and virtual reality (VR) technology. We remodeled the RC excavator such that it can be operated in the same manner as an actual excavator, and proceeded to measure the excavator’s state. To evaluate the skill of operating this system, we calculated several indices from data recorded during excavation work. We calculated the same indices from data recorded during excavation performed by an actual excavator, and verified that there exists a high correlation between the indices of the RC excavator and those of the actual excavator.

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