mlsanityData to 7 Oct 2026

An Independently Learnable Hierarchical Model for Bilateral Control-Based Imitation Learning Applications

arXiv 2203.08619 ↗First posted 16 Mar 2022cs.ROcited by 14

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

Recently, motion generation by machine learning has been actively researched to automate various tasks. Imitation learning is one such method that learns motions from data collected in advance. However, executing long-term tasks remains challenging. Therefore, a novel framework for imitation learning is proposed to solve this problem. The proposed framework comprises upper and lower layers, where the upper layer model, whose timescale is long, and lower layer model, whose timescale is short, can be independently trained. In this model, the upper layer learns long-term task planning, and the lower layer learns motion primitives. The proposed method was experimentally compared to hierarchical RNN-based methods to validate its effectiveness. Consequently, the proposed method showed a success rate equal to or greater than that of conventional methods. In addition, the proposed method required less than 1/20 of the training time compared to conventional methods. Moreover, it succeeded in executing unlearned tasks by reusing the trained lower layer.

Key facts. Cited by 14 papers in the map (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 18 of its 42 references that are in the map. First posted on arXiv 16 Mar 2022.

Builds on

18 of 42 references.

Closest ancestors · 6

Same direction, newest first

  1. 2021A New Autoregressive Neural Network Model with Command Compensation for Imitation Learning Based on Bilateral Control16 Mar
  2. 2021Imitation learning for variable speed motion generation over multiple actions11 Mar
  3. 2021Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning10 Mar
  4. 2020Motion Generation Using Bilateral Control-Based Imitation Learning with Autoregressive Learning12 Nov
  5. 2019Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning25 Oct
  6. 2018One-Shot Hierarchical Imitation Learning of Compound Visuomotor Tasks25 Oct

Other references · 12

  1. 2019Optuna: A Next-generation Hyperparameter Optimization Frameworkcited by 2,455
  2. 2017Domain Randomization for Transferring Deep Neural Networks from Simulation to the Real Worldcited by 1,401
  3. 2015Scheduled Sampling for Sequence Prediction with Recurrent Neural Networkscited by 779
  4. 2015Sequence Level Training with Recurrent Neural Networkscited by 568
  5. 2021Learning to Walk in Minutes Using Massively Parallel Deep Reinforcement Learningcited by 395
  6. 2016Hierarchical Multiscale Recurrent Neural Networkscited by 102
  7. 2014A Clockwork RNNcited by 70
  8. 2017Multi-Modal Imitation Learning from Unstructured Demonstrations using Generative Adversarial Netscited by 64
  9. 2018Imitation Learning for Object Manipulation Based on Position/Force Information Using Bilateral Controlcited by 21
  10. 2017Fast-Slow Recurrent Neural Networkscited by 12
  11. 2019Time Series Motion Generation Considering Long Short-Term Motioncited by 10
  12. 2016Imitation Learning with Recurrent Neural Networkscited by 2

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 2; 2024: 6; 2025: 3; 2026: 3.

14 papers.

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  1. 2024Bi-ACT: Bilateral Control-Based Imitation Learning via Action Chunking with Transformercited by 27
  2. 2023Soft and Rigid Object Grasping With Cross-Structure Hand Using Bilateral Control-Based Imitation Learningcited by 15
  3. 2024ILBiT: Imitation Learning for Robot Using Position and Torque Information based on Bilateral Control with Transformercited by 10
  4. 2024DABI: Evaluation of Data Augmentation Methods Using Downsampling in Bilateral Control-Based Imitation Learning with Imagescited by 7
  5. 2025Bi-LAT: Bilateral Control-Based Imitation Learning via Natural Language and Action Chunking with Transformerscited by 5
  6. 2025Bi-VLA: Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generationcited by 3
  7. 2023Cloud-Based Hierarchical Imitation Learning for Scalable Transfer of Construction Skills from Human Workers to Assisting Robotscited by 2
  8. 2024Loss Function Considering Dead Zone for Neural Networkscited by 2
  9. 2024Variable-Frequency Imitation Learning for Variable-Speed Motioncited by 2
  10. 2025Design and Experimental Validation of Sensorless 4-Channel Bilateral Teleoperation for Low-Cost Manipulatorscited by 2
  11. 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
  12. 2024Error-Feedback Model for Output Correction in Bilateral Control-Based Imitation Learningcited by 1
2 more
  1. 2026Force Generative Imitation Learning: Bridging Position Trajectory and Force Commands through Control Techniquecited by 0
  2. 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. 2026Hierarchical Proportion Models for Motion Generation via Integration of Motion Primitives
  2. 2022Transfering Hierarchical Structure with Dual Meta Imitation Learning
  3. 2021Bottom-Up Skill Discovery from Unsegmented Demonstrations for Long-Horizon Robot Manipulation
  4. 2021CRIL: Continual Robot Imitation Learning via Generative and Prediction Model
  5. 2026Dual-Process Atomic Skill Learning: Decoupling Semantic Reasoning and Real-Time Control
  6. 2024Fusion Dynamical Systems with Machine Learning in Imitation Learning: A Comprehensive Overview
  7. 2022Learning and Retrieval from Prior Data for Skill-based Imitation Learning
  8. 2024One-Shot Robust Imitation Learning for Long-Horizon Visuomotor Tasks from Unsegmented Demonstrations