In the near future, robots are expected to work with humans or operate alone and may replace human workers in various fields such as homes and factories. In a previous study, we proposed bilateral control-based imitation learning that enables robots to utilize force information and operate almost simultaneously with an expert's demonstration. In addition, we recently proposed an autoregressive neural network model (SM2SM) for bilateral control-based imitation learning to obtain long-term inferences. In the SM2SM model, both master and slave states must be input, but the master states are obtained from the previous outputs of the SM2SM model, resulting in destabilized estimation under large environmental variations. Hence, a new autoregressive neural network model (S2SM) is proposed in this study. This model requires only the slave state as input and its outputs are the next slave and master states, thereby improving the task success rates. In addition, a new feedback controller that utilizes the error between the responses and estimates of the slave is proposed, which shows better reproducibility.
Bi-VLA: Bilateral Control-Based Imitation Learning via Vision-Language Fusion for Action Generation
D3 Center, The University of Osaka（大阪大学D3中心）；Graduate School of Information Science and Technology, The University of Osaka（大阪大学信息科学与技术研究生院）；Graduate School of Maritime Sciences, Kobe University（兵库大学海运研究生院）
Bi-LAT: Bilateral Control-Based Imitation Learning via Natural Language and Action Chunking with Transformers
Graduate School of Information Science and Technology, The University of Osaka（信息科学与技术研究生学校，大阪大学）；D3 Center, The University of Osaka（大阪大学D3中心）；Graduate School of Maritime Sciences, Kobe University（海洋科学研究生学校， Kobe大学）
Input-gated Bilateral Teleoperation: An Easy-to-implement Force Feedback Teleoperation Method for Low-cost Hardware
Research & Development Group, Hitachi, Ltd.（日立株式会社研发部）；Department of Intermedia Art and Science School of Fundamental Science and Engineering, Waseda University（早稻田大学基础科学与工程学部多媒体艺术与科学系）
Design and Experimental Validation of Sensorless 4-Channel Bilateral Teleoperation for Low-Cost Manipulators
Degree Programs in Intelligent and Mechanical Interaction Systems, University of Tsukuba（智能与机械交互系统专业，东京大学）；Faculty of Engineering, Information and Systems, University of Tsukuba（工程、信息与系统学部，东京大学）；Department of Electrical Engineering, Electronics, and Applied Physics, Saitama University（电子工程、电子学与应用物理系，埼玉大学）
Imitation Learning-based Visual Servoing for Tracking Moving Objects
Università della Svizzera italiana (USI)（瑞士意大利语区大学（USI））；University of Trento（特伦托大学）；Dalle Molle Institute for Artificial Intelligence (IDSIA)（达勒莫勒人工智能研究所（IDSIA））
Variable-Speed Teaching-Playback as Real-World Data Augmentation for Imitation Learning
Master’s Program in Intelligent and Mechanical Interaction Systems, Degree Programs in Systems and Information and Engineering, Graduate School of Science and Technology, University of Tsukuba, Japan（茨川大学科学技术研究生院系统与信息工程学系智能与机械交互系统硕士课程）；Doctoral Program in Intelligent and Mechanical Interaction Systems, Degree Programs in Systems and Information and Engineering, Graduate School of Science and Technology, University of Tsukuba, Japan（茨川大学科学技术研究生院系统与信息工程学系智能与机械交互系统博士课程）；Department of Intelligent Interaction Technologies, Institute of Systems and Information Engineering, University of Tsukuba, Japan（茨川大学系统与信息工程研究所智能交互技术系）；Graduate School of Science and Engineering, Saitama University, Saitama, Japan（埼玉大学工学研究科）
Imitation Learning for Adaptive Control of a Virtual Soft Exoglove
Department of Informatics, King’s College London（信息学院，伦敦国王学院）；MyoLab；Harvard Medical School（哈佛医学院）；Spaulding Rehabilitation Hospital（斯波林康复医院）；Department of Bioengineering, Faculty of Engineering, Imperial College London（生物工程系，伦敦帝国理工学院工程学院）；John A. Paulson School of Engineering and Applied Sciences, Harvard University（哈佛大学约翰·A·保罗森工程与应用科学学院）
ALPHA-$α$ 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
Osaka University（大阪大学）；Graduate School of Information Science and Technology of Osaka University（大阪大学信息科学与技术研究生院）；School of Engineering Science, Osaka University（大阪大学工程科学学院）
Master Micro Residual Correction with Adaptive Tactile Fusion and Force-Mixed Control for Contact-Rich Manipulation
Shenzhen Ubiquitous Data Enabling Key Lab, Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China（深圳智能数据赋能重点实验室，深圳国际研究生院，清华大学，深圳518055，中国）；School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen 518107, China（电子与通信工程学院，中山大学，深圳518107，中国）；School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639956, Singapore（机械与航空航天工程学院，南洋理工大学，新加坡639956，新加坡）
FABG : End-to-end Imitation Learning for Embodied Affective Human-Robot Interaction
Institute of Machine Intelligence, University of Shanghai for Science and Technology（上海理工大学机器智能研究院）；Shanghai Droid Robot Co., Ltd.（上海智舱机器人有限公司）；University of Hamburg（汉堡大学）
