{"id":"https://openalex.org/W7128452086","doi":"https://doi.org/10.1109/access.2026.3662516","title":"Force Generative Imitation Learning: Bridging Position Trajectory and Force Commands Through Control Technique","display_name":"Force Generative Imitation Learning: Bridging Position Trajectory and Force Commands Through Control Technique","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7128452086","doi":"https://doi.org/10.1109/access.2026.3662516"},"language":null,"primary_location":{"id":"doi:10.1109/access.2026.3662516","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3662516","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2026.3662516","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103634381","display_name":"Hiroshi Sato","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Sato","raw_affiliation_strings":["Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Systems and Information Engineering, University of Tsukuba, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125471742","display_name":"Toshiaki Tsuji","orcid":null},"institutions":[{"id":"https://openalex.org/I72253084","display_name":"Saitama University","ror":"https://ror.org/02evnh647","country_code":"JP","type":"education","lineage":["https://openalex.org/I72253084"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiaki Tsuji","raw_affiliation_strings":["Graduate School of Science and Engineering, Saitama University, Saitama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Saitama University, Saitama, Japan","institution_ids":["https://openalex.org/I72253084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065050034","display_name":"Sho Sakaino","orcid":"https://orcid.org/0000-0002-5182-5649"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sho Sakaino","raw_affiliation_strings":["Department of Intelligent Interaction Technologies, Institute of Systems and Information Engineering, University of Tsukuba, Tsukuba, Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5182-5649","affiliations":[{"raw_affiliation_string":"Department of Intelligent Interaction Technologies, Institute of Systems and Information Engineering, University of Tsukuba, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17181248,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"26169","last_page":"26178"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.911899983882904,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.911899983882904,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.01209999993443489,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.010999999940395355,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.6725999712944031},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6491000056266785},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6247000098228455},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5738999843597412},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.5105999708175659},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.45820000767707825},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.4530999958515167},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.41769999265670776}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7476000189781189},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.6725999712944031},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6491000056266785},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6247000098228455},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5738999843597412},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.5105999708175659},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4578000009059906},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.4530999958515167},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.41769999265670776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41019999980926514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40950000286102295},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4090000092983246},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.4009000062942505},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3434999883174896},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3203999996185303},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.3052999973297119},{"id":"https://openalex.org/C78780964","wikidata":"https://www.wikidata.org/wiki/Q7233193","display_name":"Position paper","level":2,"score":0.2856999933719635},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.27959999442100525},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25760000944137573}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3662516","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3662516","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2602.06620","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2602.06620","pdf_url":"https://arxiv.org/pdf/2602.06620","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3662516","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3662516","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.735155463218689,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[{"id":"https://openalex.org/G2590214356","display_name":null,"funder_award_id":"JPNP20004","funder_id":"https://openalex.org/F4320321034","funder_display_name":"New Energy and Industrial Technology Development Organization"},{"id":"https://openalex.org/G709800274","display_name":null,"funder_award_id":"24K00905","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7663203688","display_name":"\u30ed\u30dc\u30c3\u30c8\u30c8\u30e9\u30f3\u30b9\u30d5\u30a9\u30fc\u30e1\u30fc\u30b7\u30e7\u30f3\u3092\u652f\u3048\u308b\u4f4e\u70ad\u7d20\u6a21\u5023\u5b66\u7fd2","funder_award_id":"JPMJAN24F1","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"},{"id":"https://openalex.org/G8417969505","display_name":"\u5236\u5fa1\u3068\u5b66\u7fd2\u306e\u7d71\u5408\u306b\u3088\u308b\u518d\u73fe\u6027\u306e\u9ad8\u3044\u52d5\u4f5c\u751f\u6210\u30e2\u30c7\u30eb","funder_award_id":"JPMJPR24T3","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"}],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"In":[0],"contact-rich":[1],"tasks,":[2],"while":[3],"position":[4,65,72,130],"trajectories":[5],"are":[6,14],"often":[7],"easy":[8],"to":[9,21,77,122],"obtain,":[10],"appropriate":[11],"force":[12,23,33,56,61,80,102,124],"commands":[13,24,62,125],"typically":[15],"unknown.":[16],"Although":[17],"it":[18],"is":[19,35],"conceivable":[20],"generate":[22,78,123],"using":[25],"pretrained":[26],"foundation":[27],"model":[28,58,75,104,110],"such":[29,46],"as":[30],"Vision-Language-Action":[31],"models,":[32],"control":[34,89,96],"highly":[36],"dependent":[37],"on":[38],"the":[39,43,74,101,120],"specific":[40],"hardware":[41],"of":[42],"robot,":[44],"making":[45],"models":[47],"challenging.":[48],"To":[49,82],"bridge":[50],"this":[51],"gap,":[52],"we":[53,85],"propose":[54],"a":[55,87,109],"generative":[57,103],"that":[59,94],"estimates":[60],"from":[63],"given":[64],"trajectories.":[66],"However,":[67],"when":[68,100],"dealing":[69],"with":[70],"unseen":[71,129],"trajectories,":[73,131],"struggles":[76],"accurate":[79],"commands.":[81],"address":[83],"this,":[84],"introduce":[86],"feedback":[88,95,115],"mechanism.":[90],"Our":[91],"experiments":[92],"reveal":[93],"does":[97],"not":[98],"converge":[99],"has":[105],"memories.We":[106],"therefore":[107],"adopt":[108],"without":[111],"memory,":[112],"enabling":[113],"stable":[114],"control.":[116],"This":[117],"approach":[118],"allows":[119],"system":[121],"effectively,":[126],"even":[127],"for":[128],"improving":[132],"generalization":[133],"in":[134],"real-world":[135],"robot":[136],"writing":[137],"tasks.":[138]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-02-10T00:00:00"}