9 papers
Design and Experimental Validation of Sensorless 4-Channel Bilateral Teleoperation for Low-Cost Manipulators
Koki Yamane, Yunhan Li, Masashi Konosu +4
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing low-c…
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…
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…
Decoupled Scaling 4ch Bilateral Control on the Cartesian coordinate by 6-DoF Manipulator using Rotation Matrix
Koki Yamane, Sho Sakaino, Toshiaki Tsuji
Four-channel bilateral control is a method for achieving remote control with force feedback and adjustment operability by synchronizing the positions and forces of two manipulators…
Imitation Learning Based on Disentangled Representation Learning of Behavioral Characteristics
Ryoga Oishi, Sho Sakaino, Toshiaki Tsuji
In the field of robot learning, coordinating robot actions through language instructions is becoming increasingly feasible. However, adapting actions to human instructions remains…
Variable-Speed Teaching-Playback as Real-World Data Augmentation for Imitation Learning
Nozomu Masuya, Hiroshi Sato, Koki Yamane +3
Because imitation learning relies on human demonstrations in hard-to-simulate settings, the inclusion of force control in this method has resulted in a shortage of training data, e…