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
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| Format: | Preprint |
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2024
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| _version_ | 1866909424219586560 |
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| author | Kobayashi, Masato Buamanee, Thanpimon Kobayashi, Takumi |
| author_facet | Kobayashi, Masato Buamanee, Thanpimon Kobayashi, Takumi |
| contents | Autonomous manipulation in everyday tasks requires flexible action generation to handle complex, diverse real-world environments, such as objects with varying hardness and softness. Imitation Learning (IL) enables robots to learn complex tasks from expert demonstrations. However, a lot of existing methods rely on position/unilateral control, leaving challenges in tasks that require force information/control, like carefully grasping fragile or varying-hardness objects. As the need for diverse controls increases, there are demand for low-cost bimanual robots that consider various motor inputs. To address these challenges, we introduce Bilateral Control-Based Imitation Learning via Action Chunking with Transformers(Bi-ACT) and"A" "L"ow-cost "P"hysical "Ha"rdware Considering Diverse Motor Control Modes for Research in Everyday Bimanual Robotic Manipulation (ALPHA-$α$). Bi-ACT leverages bilateral control to utilize both position and force information, enhancing the robot's adaptability to object characteristics such as hardness, shape, and weight. The concept of ALPHA-$α$ is affordability, ease of use, repairability, ease of assembly, and diverse control modes (position, velocity, torque), allowing researchers/developers to freely build control systems using ALPHA-$α$. In our experiments, we conducted a detailed analysis of Bi-ACT in unimanual manipulation tasks, confirming its superior performance and adaptability compared to Bi-ACT without force control. Based on these results, we applied Bi-ACT to bimanual manipulation tasks. Experimental results demonstrated high success rates in coordinated bimanual operations across multiple tasks. The effectiveness of the Bi-ACT and ALPHA-$α$ can be seen through comprehensive real-world experiments. Video available at: https://mertcookimg.github.io/alpha-biact/ |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2411_09942 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | 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 Kobayashi, Masato Buamanee, Thanpimon Kobayashi, Takumi Robotics Autonomous manipulation in everyday tasks requires flexible action generation to handle complex, diverse real-world environments, such as objects with varying hardness and softness. Imitation Learning (IL) enables robots to learn complex tasks from expert demonstrations. However, a lot of existing methods rely on position/unilateral control, leaving challenges in tasks that require force information/control, like carefully grasping fragile or varying-hardness objects. As the need for diverse controls increases, there are demand for low-cost bimanual robots that consider various motor inputs. To address these challenges, we introduce Bilateral Control-Based Imitation Learning via Action Chunking with Transformers(Bi-ACT) and"A" "L"ow-cost "P"hysical "Ha"rdware Considering Diverse Motor Control Modes for Research in Everyday Bimanual Robotic Manipulation (ALPHA-$α$). Bi-ACT leverages bilateral control to utilize both position and force information, enhancing the robot's adaptability to object characteristics such as hardness, shape, and weight. The concept of ALPHA-$α$ is affordability, ease of use, repairability, ease of assembly, and diverse control modes (position, velocity, torque), allowing researchers/developers to freely build control systems using ALPHA-$α$. In our experiments, we conducted a detailed analysis of Bi-ACT in unimanual manipulation tasks, confirming its superior performance and adaptability compared to Bi-ACT without force control. Based on these results, we applied Bi-ACT to bimanual manipulation tasks. Experimental results demonstrated high success rates in coordinated bimanual operations across multiple tasks. The effectiveness of the Bi-ACT and ALPHA-$α$ can be seen through comprehensive real-world experiments. Video available at: https://mertcookimg.github.io/alpha-biact/ |
| title | 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 |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.09942 |