Jun Morimoto

Head of Department
Department of Brain Robot Interface
ATR Computational Neuroscience Labs

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

Research Interests:

Reinforcement learning
Biped locomotion
Humanoid robotics
Robust control theory
State estimation problems

Publications:

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

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:

• 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:

• 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.

• 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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