Bilateral Control-Based Imitation Learning for Velocity-Controlled Robot
On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning
Abstract (arXiv)
Machine learning is now playing important role in robotic object manipulation. In addition, force control is necessary for manipulating various objects to achieve robustness against perturbations of configurations and stiffness. The author's group revealed that fast and dynamic object manipulation with force control can be obtained by bilateral control-based imitation learning. However, the method is applicable only in robots that can control torque, while it is not applicable in robots that can only follow position or velocity commands like many commercially available robots. Then, in this research, a way to implement bilateral control-based imitation learning to velocity-controlled robots is proposed. The validity of the proposed method is experimentally verified by a mopping task.
Key facts. No citing papers in the map yet (data through 7 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. Builds on 10 of its 41 references that are in the map. First posted on arXiv 6 Mar 2021.
Builds on
10 of 41 references.
Closest ancestors · 3
Same direction, newest first
- 2020Motion Generation Using Bilateral Control-Based Imitation Learning with Autoregressive Learning12 Nov
- 2020A Geometric Perspective on Visual Imitation Learning5 Mar
- 2019Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning25 Oct
Other references · 7
- 2016Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collectioncited by 312
- 2017Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperationcited by 286
- 2018Imitation Learning for Object Manipulation Based on Position/Force Information Using Bilateral Controlcited by 21
- 2015Highway Long Short-Term Memory RNNs for Distant Speech Recognitioncited by 17
- 2019Time Series Motion Generation Considering Long Short-Term Motioncited by 10
- 2018Deep Learning Scooping Motion using Bilateral Teleoperationscited by 4
- 2019Interactive Trajectory Adaptation through Force-guided Bayesian Optimizationcited by 3
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- 2023Soft and Rigid Object Grasping With Cross-Structure Hand Using Bilateral Control-Based Imitation Learning
- 2021Imitation learning for variable speed motion generation over multiple actions
- 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challenges
- 2024A Comparison of Imitation Learning Algorithms for Bimanual Manipulation
- 2021Imitation Learning for Variable Speed Contact Motion for Operation up to Control Bandwidth
- 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