A hierarchical robot imitation-learning model with a proportional error-feedback term improves tracking of pre-recorded upper-layer outputs, especially when the lower layer is a stateless MLP rather than an LSTM.
Soft and rigid object grasping with cross-structure hand using bilateral control-based imitation learning,
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Error-Feedback Model for Output Correction in Bilateral Control-Based Imitation Learning
A hierarchical robot imitation-learning model with a proportional error-feedback term improves tracking of pre-recorded upper-layer outputs, especially when the lower layer is a stateless MLP rather than an LSTM.