{"@context":{"@vocab":"https://cir.nii.ac.jp/schema/1.0/","rdfs":"http://www.w3.org/2000/01/rdf-schema#","dc":"http://purl.org/dc/elements/1.1/","dcterms":"http://purl.org/dc/terms/","foaf":"http://xmlns.com/foaf/0.1/","prism":"http://prismstandard.org/namespaces/basic/2.0/","cinii":"http://ci.nii.ac.jp/ns/1.0/","datacite":"https://schema.datacite.org/meta/kernel-4/","ndl":"http://ndl.go.jp/dcndl/terms/","jpcoar":"https://github.com/JPCOAR/schema/blob/master/2.0/"},"@id":"https://cir.nii.ac.jp/crid/1050304471626164352.json","@type":"Article","productIdentifier":[{"identifier":{"@type":"HDL","@value":"https://hdl.handle.net/11094/101417"}},{"identifier":{"@type":"DOI","@value":"10.1109/access.2025.3541200"}},{"identifier":{"@type":"URI","@value":"http://xplorestaging.ieee.org/ielx8/6287639/10820123/10883984.pdf?arnumber=10883984"}}],"resourceType":"学術雑誌論文(journal article)","dc:title":[{"@language":"en","@value":"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"}],"dc:language":"en","description":[{"type":"Other","notation":[{"@language":"en","@value":"Kobayashi M., Buamanee T., Kobayashi T.. 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. IEEE Access 13, 29886-29899 (2025); https://doi.org/10.1109/ACCESS.2025.3541200."}]},{"type":"Other","notation":[{"@language":"en","@value":"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 AL ow-cost Physical Hardware 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 and shape. The concept of ALPHA-α is affordability, ease of use, repairability, ease of assembly, and diverse control modes such as position, velocity, and torque mode. In our experiments, we conducted detailed analysis of Bi-ACT in unimanual tasks involving objects with varying hardness, shape, and weight, confirming its superior performance and adaptability. We also applied Bi-ACT to bimanual tasks such as Egg Handling and Open Cap using ALPHA-α. The experimental outcomes demonstrated a high success rate in bimanual operations, validating the effectiveness of our approach in real-world scenarios. These results suggest that Bi-ACT and ALPHA-α can advance automation in daily life and industrial settings. Video available at: https://mertcookimg.github.io/alpha-biact/."}]}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1420298124330509824","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"10979868"},{"@type":"NRID","@value":"1000010979868"},{"@type":"ORCID","@value":"0000-0001-9703-2858"}],"foaf:name":[{"@language":"en","@value":"Kobayashi, Masato"}]},{"@id":"https://cir.nii.ac.jp/crid/1070304471626164352","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Kobayashi, Takumi"}]},{"@id":"https://cir.nii.ac.jp/crid/1070304471626164353","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Buamanee, Thanpimon"}]}],"publication":{"publicationIdentifier":[{"@type":"EISSN","@value":"21693536"}],"prism:publicationName":[{"@language":"en","@value":"IEEE Access"}],"dc:publisher":[{"@value":"Institute of Electrical and Electronics Engineers 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