4 papers
Bi-HIL: Bilateral Control-Based Multimodal Hierarchical Imitation Learning via Subtask-Level Progress Rate and Keyframe Memory for Long-Horizon Contact-Rich Robotic Manipulation
Thanpimon Buamanee, Masato Kobayashi, Yuki Uranishi
Long-horizon contact-rich robotic manipulation remains challenging due to partial observability and unstable subtask transitions under contact uncertainty. While hierarchical archi…
Bi-VLA: Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation
Masato Kobayashi, Thanpimon Buamanee
We propose Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation (Bi-VLA), a novel framework that extends bilateral control-based imitation le…
Bi-LAT: Bilateral Control-Based Imitation Learning via Natural Language and Action Chunking with Transformers
Takumi Kobayashi, Masato Kobayashi, Thanpimon Buamanee +1
We present Bi-LAT, a novel imitation learning framework that unifies bilateral control with natural language processing to achieve precise force modulation in robotic manipulation.…
ALPHA- 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
Masato Kobayashi, Thanpimon Buamanee, Takumi Kobayashi
Autonomous manipulation in everyday tasks requires flexible action generation to handle complex, diverse real-world environments, such as objects with varying hardness and softness…