Yuga Yano — Papers on Cortexa

arxivcs.CV2026-07-14

SaaF: Scene-Specific Ambiguity-Aware 3D Language Fields towards Interactive Real-World Object Retrieval

Yuga Yano, Daiju Kanaoka, Hakaru Tamukoh, Yasutomo Kawanishi

We propose Scene-specific Ambiguity-aware 3D Language Fields (SaaF), a novel Gaussian Splatting-based 3D language field designed for interactive object retrieval in a given real-world scene. Interactive object retrieval using natural language is a crucial capability for service r…

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arxivcs.RO2026-07-13

Breaking the 15% Barrier: A Real-World Data-Driven System for Proactive Social Robot Triggered by User Nonverbal Cues

Yuga Yano, Yuki Okafuji, Ryo Miyoshi, Sanae Yamashita, Yoshiki Ohira

Service robots in retail stores increasingly rely on cascaded speech pipelines (STT-LLM-TTS), yet many customer-robot interactions are initiated or guided by nonverbal behaviors such as approaching, waving, pointing, or showing items. This paper studies such cues in a real-world…

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