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cs.RO2026
Force Generative Imitation Learning: Bridging Position Trajectory and Force Commands through Control Technique
Hiroshi Sato, Sho Sakaino, Toshiaki Tsuji
In contact-rich tasks, while position trajectories are often easy to obtain, appropriate force commands are typically unknown. Although it is conceivable to generate force commands…
cs.RO2026
Hierarchical Proportion Models for Motion Generation via Integration of Motion Primitives
Yu-Han Shu, Toshiaki Tsuji, Sho Sakaino
Imitation learning (IL) enables robots to acquire human-like motion skills from demonstrations, but it still requires extensive high-quality data and retraining to handle complex o…