mlsanityData to 7 Oct 2026

Imitation Learning for Object Manipulation Based on Position/Force Information Using Bilateral Control

arXiv 1811.03759 ↗First posted 9 Nov 2018cs.ROcited by 21

Not on the map. Why?

Abstract (arXiv)

This study proposes an imitation learning method based on force and position information. Force information is required for precise object manipulation but is difficult to obtain because the acting and reaction forces cannnot be separated. To separate the forces, we proposed to introduce bilateral control, in which the acting and reaction forces are divided using two robots. In the proposed method, two models of neural networks learn a task; to draw a line along a ruler. We verify the possibility that force information is essential to imitate the human skill of object manipulation.

Key facts. Cited by 21 papers in the map (data through 7 Oct 2026). First posted on arXiv 9 Nov 2018.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2019: 1; 2020: 1; 2021: 4; 2022: 3; 2023: 1; 2024: 5; 2025: 4; 2026: 2.

21 papers.

Sort:

By area:

  1. 2024Bi-ACT: Bilateral Control-Based Imitation Learning via Action Chunking with Transformercited by 27
  2. 2021Imitation Learning for Variable Speed Contact Motion for Operation up to Control Bandwidthcited by 16
  3. 2023Soft and Rigid Object Grasping With Cross-Structure Hand Using Bilateral Control-Based Imitation Learningcited by 15
  4. 2022An Independently Learnable Hierarchical Model for Bilateral Control-Based Imitation Learning Applicationscited by 14
  5. 2022Imitation Learning for Nonprehensile Manipulation through Self-Supervised Learning Considering Motion Speedcited by 14
  6. 2025A Survey on Imitation Learning for Contact-Rich Tasks in Roboticscited by 12
  7. 2020Motion Generation Using Bilateral Control-Based Imitation Learning with Autoregressive Learningcited by 11
  8. 2024ILBiT: Imitation Learning for Robot Using Position and Torque Information based on Bilateral Control with Transformercited by 10
  9. 2022Training Robots without Robots: Deep Imitation Learning for Master-to-Robot Policy Transfercited by 9
  10. 2021A New Autoregressive Neural Network Model with Command Compensation for Imitation Learning Based on Bilateral Controlcited by 5
  11. 2025Bi-LAT: Bilateral Control-Based Imitation Learning via Natural Language and Action Chunking with Transformerscited by 5
  12. 2021Imitation learning for variable speed motion generation over multiple actionscited by 3
9 more
  1. 2025Bi-VLA: Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generationcited by 3
  2. 2024Loss Function Considering Dead Zone for Neural Networkscited by 2
  3. 2024Variable-Frequency Imitation Learning for Variable-Speed Motioncited by 2
  4. 2024Variable-Speed Teaching-Playback as Real-World Data Augmentation for Imitation Learningcited by 2
  5. 2025Design and Experimental Validation of Sensorless 4-Channel Bilateral Teleoperation for Low-Cost Manipulatorscited by 2
  6. 2026Bi-HIL: Bilateral Control-Based Multimodal Hierarchical Imitation Learning via Subtask-Level Progress Rate and Keyframe Memory for Long-Horizon Contact-Rich Robotic Manipulationcited by 2
  7. 2019Imitation Learning Based on Bilateral Control for Human-Robot Cooperationcited by 0
  8. 2021Bilateral Control-Based Imitation Learning for Velocity-Controlled Robotcited by 0
  9. 2026Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensitycited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024ALPHA-α and Bi-ACT Are All You Need: Importance of Position and Force Information/Control for Imitation Learning of Unimanual and Bimanual Robotic Manipulation with Low-Cost System
  2. 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challenges
  3. 2025Dexterous Manipulation through Imitation Learning: A Survey
  4. 2024A Comparison of Imitation Learning Algorithms for Bimanual Manipulation
  5. 2022A System for Imitation Learning of Contact-Rich Bimanual Manipulation Policies
  6. 2024ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
  7. 2025Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey
  8. 2022Learning Sensorimotor Primitives of Sequential Manipulation Tasks from Visual Demonstrations