Jun Morimoto

Head of Department
Department of Brain Robot Interface(BRI)
ATR Computational Neuroscience Labs

E-mail: xmorimo (at) atr (dot) jp

[English] / [Japanese]

Research Interests:

Reinforcement learning
Biped locomotion
Humanoid robotics
Robust control theory
State estimation problems
Brain-Robot Interfaces

Publications:

International Journals / Conference Papers
Domestic Journals / Conference Papers /Patents (in Japanese)

Social Activities:

Committees (International)/Committees (Domestic)

Biography:
He is a senior researcher at ATR Computational Neuroscience Laboratories and with Computational Brain Project, ICORP, JST.
He received his Ph.D. in information science from Nara Institute of Science and Technology (NAIST), Nara, Japan, in 2001.
He was a Research Assistant with the Kawato Dynamic Brain Project, ERATO, JST, from 1999 to 2001.
From 2001 to 2002, he was a postdoctoral fellow at the Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA.
He Jointed ATR in 2002, and then joined JST, ICORP in 2004.

International Journal Papers:

• Norikazu Sugimoto, Jun Morimoto, Sang-Ho Hyon and Mitsuo Kawato (2012)
  eMOSAIC model for Humanoid Robot Control
  Neural Networks, Accepted

• Takamitsu Matsubara, Sang-Ho Hyon and Jun Morimoto (2012)
  Real-time stylistic prediction for whole-body human motions
  Neural Networks, Volume 25, Issue 1, pages 191-199, 2012

• Takamitsu Matsubara, Sang-Ho Hyon and Jun Morimoto (2011)
  Learning parametric dynamic movement primitives from multiple demonstraions
  Neural Networks, Volume 24, Issue 5, pages 493-500, 2011

• Ales Ude, Andrej Gams, Tamim Asfour and Jun Morimoto. (2010)
  Task-specific generalization of discrete and periodic dynamic movement primitives
  IEEE Transaction on Robotics, Volume 26, Issue 5, pages 800-815, 2010.

• Jun Morimoto and Christopher G. Atkeson (2009)
  Nonparametric representation of an approximated Poincare map for learning biped locomotion
  Autonomous Robots, Volume 27, Number 2, pages 131-144, 2009.

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon, Joshua G. Hale, and Gordon Cheng (2008)
  Learning to Acquire Whole-Body Humanoid Center of Mass Movements to Achieve Dynamic Tasks
  Advanced Robotics, Volume 22, Number 10, pages 1125-1142, 2008.

• Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanish, and Gordon Cheng (2008)
  Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot,
  International Journal of Robotics Research, Volume 27, Number 2, pages 213-228, 2008

• Jun Morimoto, Gen Endo, Jun Nakanish, and Gordon Cheng. (2008)
  A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots: Modulation of Sinusoidal Patterns by a Coupled Oscillator Model
  IEEE Transaction on Robotics, Volume 24, Issue 1, pages 185-191, 2008.

• Gordon Cheng, Sang-Ho Hyon, Jun Morimoto, Ales Ude, Joshua G.Hale, Glenn Colvin, Wayco Scroggin, and Stephen C. Jacobsen (2007)
  CB: A Humanoid Research Platform for Exploring Neuroscience,
  Advanced Robotics, Volume 21, Number 10, pages 1097-1114, 2007

• Jun Morimoto and Christopher G. Atkeson (2007)
  Learning Biped Locomotion: Application of poincare-map-based reinforcement learning
  Robotics and Automation Magazine, IEEE, Volume 14, Issue 2, pages 41-51, 2007

• Jun Morimoto and Kenji Doya (2007)
  Reinforcement Learning State Estimator
  Neural Computation, Volume 19, Number 3, Pages 730-756, 2007

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanish, Masa-aki Sato, and Kenji Doya (2006)
  Learning feedback pathway of CPG-based controller using policy gradient
  Robotics and Autonomous Systems, volume 54, issue 11, pages 911-920, 2006

• Jun Morimoto and Kenji Doya (2005)
  Robust Reinforcement Learning
  Neural Computation, Volume 17, Number 2, pages 335-359, 2005

• Jun Nakanish, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato (2004)
  Learning from Demonstration and Adaptation of Biped Locomotion
  Robotics and Autonomous Systems, volume, 47, number 2-3, pages 79-91, 2004

• Hiroyuki Miyamoto, Jun Morimoto, Kenji Doya, and Mitsuo Kawato
  Reinforcement Learning with Via-point Representaion
  Neural Networks, Volume 17, Issue 3, pages 299-305, 2004

• Jun Morimoto and Kenji Doya (2001)
  Acquisition of Stand-up Behavior by a Real Robot using Hierarchical Reinforcement Learning
  Robotics and Autonomous Systems, Volume 36, Issue 1, pages 37-51, 2001

• Jun Morimoto and Kenji Doya (1998)
  Hierarchical reinforcement learning for motion learning: Learning "Stand-up" Trajectories,
  Advanced Robotics, Volume 13, Number 3, pages 267-268, 1998

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International Conference Papers:

• Takamitsu Matsubara, Sang-Ho Hyon and Jun Morimoto (2011)
  Learning and adaptation of a stylistic myoelectric interface: EMG-based robotic control with individual user differences
  IEEE International Conference on Robotics and Biomimetics(ROBIO 2011), pp. 390-395, Phuket, Thailand

• Norikazu Sugimoto and Jun Morimoto (2011)
  Phase-dependent Trajectory Optimization for CPG-based Biped Walking Using Pah Integral Reinforcement Learning
  IEEE-RAS International Conference on Humanoid Robots (Humaniods 2011), pp. 255-206, Bled, Slovenia

• David Schiebener, Ales Ude, Jun Morimoto, Tamim Asfour and Rudiger Dillmann(2011)
  Segmentation and learning of unknown objects through physical interaction
  IEEE-RAS International Conference on Humanoid Robots (Humaniods 2011), pp. 500-506, Bled, Slovenia

• Takamitsu Matsubara, Tomoyuki Noda, Sang-Ho Hyon and Jun Morimoto (2011)
  An Optimal Control Approach for Hybrid Actuator System
  IEEE-RAS International Conference on Humanoid Robots (Humaniods 2011), pp. 300-305, Bled, Slovenia

• Poramate Manoonpong, Florentin Worgotter and Jun Moriomto (2011),
  A combinatorial learning model using correlation-based and reward-based learning for efficient control policy development: acquisition of goal-directed behavior.
  4th International Workshop on Guided Self-Organization, 2011.

• Norikazu Sugimoto and Jun Morimoto(2011)
  Switching multiple LQG controllers based on Bellman's optimality principle: using full-state feedback to control a humanoid robot,
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), pages 2715-2722,
  San Francisco, USA, Sep25-30, 2011.

• Sang-Ho Hyon, Jun Morimoto, Takamitsu Matsubara, Tomoyuki Noda and Mitsuo Kawato(2011)
  XoR: Hybrid drive exoskeleton robot that can balance,
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), pages 2715-2722,
  San Francisco, USA, Sep25-30, 2011.

• Hiromichi Suetani, Akiko M. Ideta, and Jun Morimoto(2011)
  Nonlinear structure of escape-times to fall for a passive dynamic walker on an irregular slope:
  anomaly detection using multi-class support vector machine and latent state extraction by canonical correlation analysis,
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), pages 2715-2722,
  San Francisco, USA, Sep25-30, 2011.

• Takamitsu Matsubara, Sang-Ho Hyon and Jun Morimoto(2010)
  Learning Parametric Dynamic Movement Primitives from Multiple Demonstrations,
  17th International Conference on Neural Information Processing, Part I, LNCS 6443, pp. 347-354,
  Sydney, Australia, Nov 22-25, 2010.

• Poramate Manoonpong, Florentin Worgotter and Jun Morimoto(2010)
  Extraction of Reward-Related Feature Space Using Correlation-Based and Reward-Based Learning Methods,
  17th International Conference on Neural Information Processing, Part I, LNCS 6443, pp. 414-421,
  Sydney, Australia, Nov 22-25, 2010.
  

• Takamitsu Matsubara, Tetsuro Morimura and, Jun Morimoto(2010)
  Adaptive Step-size Policy Gradient with Average Reward,
  The 2nd Conference on Machine Learning (ACML 2010), pages 285-298,
  Tokyo, Japan, Nov 8-10, 2010.

• Takamitsu Matsubara, Sang-Ho Hyon, and, Jun Morimoto(2010)
  Learning Stylistic Dynamic Movement Primitives from Multiple Demonstrations,
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), pages 1277-1283,
  Taipei, Taiwan, Oct 18-22, 2010.

• Norikazu Sugimoto, Jun Morimoto, Sang-Ho Hyon, and Mitsuo Kawato(2010)
  eMOSAIC Model for Humanoid Robot Control
  From Animals to Animats 11: 11th International Conference on Simulation of Adaptive Behavior
  (SAB 2010), pages 447-457, Paris, France, Aug 24-28.

• Sang-Ho Hyon, Jun Morimoto, and Mitsuo Kawato(2010)[Video session]
  From compliant balancing to dynamic walking on humanoid robot: Interation of CNS and CPG
  IEEE International Conference on Robotics and Automation, pp. 1084-1085, Anchorage, AK, USA, May 3-8.

• Yuka Ariki, Jun Morimoto, and Sang-Ho Hyon (2008)
  Behavior recogition with ground reaction force estimation and its application to imitation learning
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pages 2029-2034, Nice, France.

• Sang-Ho Hyon, Jun Morimoto, and Gordon Cheng (2008)
  Hierarchical Motor Learning and Synthesis with Passivity-Based Controller and Phase Oscillator
  IEEE International Conference on Robotics and Automation, pp. 2706-2710, Pasadena, CA, USA, May 19-23.

• Jun Morimoto, Sang-Ho Hyon, Gordon Cheng, Christopher G. Atkeson, and Gordon Cheng(2008)
  Low-dimensional feature extraction for humaniod locomotion using kernel dimension reduction
  IEEE International Conference on Robotics and Automation, pp. 2711-2716, Pasadena, CA, USA, May 19-23.

• Gordon Cheng, Sang-Ho Hyon, Ales Ude, Jun Morimoto, Joshua G. Hale, Joseph Hart, Jun Nakanishi, Darrin Bentivegna, Jessica Hodgins, Christopher G. Atkeson, Michael Mistry, Stefan Schaal, and Mitsuo Kawato(2008)[Video session]
  CB: Exploring Neuroscience with a Humanoid Research Platform
  IEEE International Conference on Robotics and Automation, pp. 1772-1773, Pasadena, CA, USA, May 19-23.

• Jun Morimoto, Gen Endo, Sang-Ho Hyon, and Gordon Cheng(2007)
  A simple approach to diverse humanoid locomotion
  IEEE-RAS International Conference on Humanoid Robots (Humaniods 2007), pp. 596-602, Pittsburgh, PA, USA

• Cheng, G., Fitzsimmons, N. A., Morimoto, J., Lebedev, M. A., Kawato, M., & Nicolelis, M. A. L. (2007)
  Bipedal locomotion with a humanoid robot controlled by cortical ensemble activity.
  Society for Neuroscience 37th Annual Meeting. San Diego, CA, USA.

• Jun Morimoto, Christopher G. Atkeson, Gen Endo, and Gordon Cheng (2007)
  Improving Humanoid Locomotive Performance with Learnt Approximated Dynamics via Gaussian Processes for Regression
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), pages 4234-4240, San Diego, CA, USA.

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon, Joshua G. Hale, and Gordon Cheng(2007)
  Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks
  IEEE International Conference on Robotics and Automation, pp. 2688-2693, Rome, Italy, April 10-14

• Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyon, Gordon Cheng, Darrin Bentivegna, and Christopher G. Atkeson (2006)
  Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking
  IEEE International Conference on Robotics and Automation, pp. 1579-1584, Orlando, FL, USA, May 15-19
  

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya (2005)
  Learning CPG-based Biped Locomotion with a Policy Gradient Method
  IEEE-RAS/RSJ International Conference on Humanoid Robots (Humaniods 2005), pp. 208-213, Tsukuba, Japan

• Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, and Gordon Cheng (2005)
  Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-body Humanoid
  The Twentieth National Conference on Artificial Intelligence, pp. 1267-1273 (AAAI 2005), Pittsburgh, PA, USA, July 9--13 .

• Gen Endo, Jun Nakanishi, Jun Morimoto, and Gordon Cheng (2005)
  Experimental Study of a Neural Oscillator for Biped Locomotion using QRIO
  IEEE International Conference on Robotics and Automation, pp. 598-604, Barcelona, Spain, April 18-22

• Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya (2005)
  Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion
  IEEE International Conference on Robotics and Automation, pp. 4175-4180, Barcelona, Spain, April 18-22

• Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin (2005)
  Poincare-Map-based Reinforcement Learning for Biped Walking
  IEEE International Conference on Robotics and Automation, pp. 2392-2397, Barcelona, Spain, April 18-22

• Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin (2004)
  Acquisition of a Biped Walking Pattern using a Approximated Poincare Map
  IEEE-RAS/RSJ International Conference on Humanoid Robots (Humaniods 2004), pp. 912-924, Los Angeles, CA, USA )

• Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato (2004)
  A Framework for Learning Biped Locomotion with Dynamical Movement Primitives
  IEEE-RAS/RSJ International Conference on Humanoid Robots (Humaniods 2004), pp. 925-940, Los Angeles, CA, USA )

• Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato (2004)
  An Empirical Exploration of Phase Resetting for Robust Biped Locomotion with Dynamical Movement Primitives
  IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 919-924, Sendai, Japan

• Gen Endo, Jun Morimoto, Jun Nakanishi, and Gordon Cheng (2004)
  An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control
  IEEE International Conference on Robotics and Automation, pp. 3036-3042, New Orleans, LA, USA

• Jun Moriimioto, Garth Zeglin, Christopher G. Atkeson, and Gordon Cheng (2004)
  A Simple Reinforcement Learning Algorithm for Biped Walking
  IEEE International Conference on Robotics and Automation (ICRA 2004), pages 3036-3042, New Orleans, LA, USA

• Jun Morimoto, Garth Zeglin, and Christopher G. Atkeson (2003)
  Minimax Differential Dynamic Programming: Application to a Biped Walking Robot
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), Volume 2, Issue , 27-31, Pages: 1927 - 1932, Las Vegas, NV, USA

• Jun Morimoto and Christopher G. Atkeson (2002)
  Minimax Differential Dynamic Programming: An application to Robust Biped Walking
  Advances in Neural Information Processing Systems 15, MIT Press, Cambridge, MA, Pages: 1563-1570

• Christopher G. Atkeson and Jun Morimoto (2002)
  Nonparametric Representation of Policies and Value Functions: A Trajectory-Based Approach
  Advances in Neural Information Processing Systems 15, MIT Press, Cambridge, MA, Pages: 1643-1650, (NIPS2002).

• Jun Morimoto and Christopher G. Atkeson (2002)
  Robust Low Torque Biped Walking Using Differential Dynamic Programming with a minimax Criterion
  5th International Conference on Climbing and Waling Robots (CLAWAR 2002), pages 453-459.

• Jun Morimoto and Kenji Doya (2000)
  Robust Reinforcement Learning
  Advances in Neural Information Processing Systems 13, MIT Press, Cambrige, MA, pages 1061-1067,(NIPS2000).

• Jun Morimoto and Kenji Doya (2000)
  fAcquisition of Stand-Up Behavior by a Real Robot using Hierarchical Reinforcement Learning,
  International Conference on Machine Learning, pages 623-630, (ICML2000).

• Jun Morimoto and Kenji Doya (1998)
  Hierarchical Reinforcement Learning of Low-dimensional Subgoals and High-dimensional Trajectories
  The 5th International Conference on neural Information Processing, Volume 2, pages 850-853, (ICONIP1998).

• Jun Morimoto and Kenji Doya (1998)
  Reinforcement Learning of Dynamic Motor Sequence: Learning to Stand Up
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Volume 3, pages 1721-1726, (IROS1998).

• Takayuki Nakamura, Jun Morimoto, and Minoru Asada (1996)
  Direct coupling of multisensor information and actions for mobile robot behavior acquisition.
  IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems
  pages 139-144.

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Invited Talks:

• The 11^th Japan-Korea-China Joint Workshop on Neurobiology and Neuroinformatics, 2011

• CITEC: Lecture Series in Cognitive Interaction, 2011

• BFNT/BCCN,  AG-Seminar, 2011

• DFG-workshop "Linking Neuroscience to Robotics: How Complex Machines Benefit from Brain Theory",
  In the framework of the "German-Japanese Science and Innovation Forum 2010", 2010.

• Session topic: Modeling Brain Circuits, Brain/Machine Interface-Learning,
  Japanese-American Frontiers of Science Symposium(JAFoS), Chiba, 2010.

• Frontiers in Dynamical Brain Studies, 2009

• Second bilateral German-Japanese Workshop on Computational Neuroscience, 2009.

• RSS 2009 Workshop, Bridging the gap between high-level discrete representations and low-level continuous behaviors.

• ICRA 2009 Workshop, Brain Machine Interfaces for Neuroprostheses and Robot Control.

• ICRA 2009 Workshop, Approaches to Sensorimotor Learning on Humanoid Robots.

• IROS 2008 Workshop, Robot Learning.

• RSS 2005 Workshop, Learning for Locomotion.

Committees:

• 2012 IEEE International Conference on Robotics and Automation (ICRA2012),
  Associate Editor, 2012

• 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011),
  Program Co-Chair 2011.10

• 2011 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS2011),
  Associate Editor, 2011.

• Robotics: Science and Systems (RSS) 2011 Area Chair 2011.6

• 2011 IEEE International Conference on Robotics and Automation (ICRA2011),
  Associate Editor, 2011.

• 10th IEEE-RAS International Conference on Humanoid Robots (Humaniods
  2010) Program Committee 2010.12

• IEEE BIOROB 2010, Program Committee, 2010.9

• Robotics: Science and Systems (RSS) 2010 Program committee 2010.6

• Special issue on "Robot Learning in Practice", IEEE Robotics and
  Automation Magazine, Guest Editor, 2010.6

• 2010 IEEE International Conference on Robotics and Automation (ICRA2010),
  Associate Editor, 2010.

• 9th IEEE-RAS International Conference on Humanoid Robots (Humaniods2009),
  Program Committee 2009.12

• Robotics: Science and Systems (RSS) 2009 Area Chair 2009.6

• Workshop on "Approaches to Sensorimotor Learning on Humanoid Robots",
  2009 IEEE International Conference on Robotics and Automation (ICRA2009),
  Organizer, 2009.5

• Workshop on "Robotics Challenges for Machine Learning",
  IEEE/RSJ 2008 International Conference on Inteligent Robots and Systems
  (IROS 2008), Organizer, 2008.9

• IEEE Technical Committee on Robot Learning, Co-Chair, 2008-2012
  (IEEE-RAS Most Active Technical Committee Award 2010)