Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity

2026-09-11

AI Summary

为解决执行速度和接触强度调控问题，提出Bi-MoDe方法，通过修改条件解码框架直接控制动作生成。

Abstract

Bilateral control-based imitation learning captures both position and force information, making it well suited to contact-rich manipulation. However, existing approaches provide limited means for an operator to specify how a learned task should be executed at inference time, such as slowly or quickly, gently or firmly. We propose Bi-MoDe, a modifier-conditioned decoding framework that injects a constrained latent into every layer of the Transformer action decoder via adaLN-Zero, allowing behavioral directives to directly influence action-chunk generation. We evaluate the method on a real-world whiteboard wiping task with combinations of temporal and physical modifiers. Bi-MoDe improves physical directive following over the action-chunking baseline while maintaining comparable temporal control. An ablation further shows that decoder conditioning and latent-space composition interact, and that their combination is important for accurate physical directive following. Additional material is available at the https://mertcookimg.github.io/bi-mode/

Problem

• bilateral control
• imitation learning
• execution speed
• contact intensity
• behavioral directives

Innovation

• Bilateral Control
• Imitation Learning
• Modifier-Conditioned Decoding
• adaLN-Zero
• Transformer