{"id":"https://openalex.org/W3137204768","doi":"https://doi.org/10.1109/icm46511.2021.9385691","title":"A New Autoregressive Neural Network Model with Command Compensation for Imitation Learning Based on Bilateral Control","display_name":"A New Autoregressive Neural Network Model with Command Compensation for Imitation Learning Based on Bilateral Control","publication_year":2021,"publication_date":"2021-03-07","ids":{"openalex":"https://openalex.org/W3137204768","doi":"https://doi.org/10.1109/icm46511.2021.9385691","mag":"3137204768"},"language":"en","primary_location":{"id":"doi:10.1109/icm46511.2021.9385691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icm46511.2021.9385691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.08879","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103217232","display_name":"Kazuki Hayashi","orcid":"https://orcid.org/0000-0002-8367-8962"},"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":"Kazuki Hayashi","raw_affiliation_strings":["Department of Intelligent Interactive Systems University of Tsukuba,Tsukuba,Japan","University OF Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Interactive Systems University of Tsukuba,Tsukuba,Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"University OF Tsukuba","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004842559","display_name":"Ayumu Sasagawa","orcid":"https://orcid.org/0000-0003-3232-0685"},"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":"Ayumu Sasagawa","raw_affiliation_strings":["Graduate School of Science and Engineering Saitama University, Saitama, Japan","Saitama-university"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering Saitama University, Saitama, Japan","institution_ids":["https://openalex.org/I72253084"]},{"raw_affiliation_string":"Saitama-university","institution_ids":["https://openalex.org/I72253084"]}]},{"author_position":"middle","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 Interactive Systems University of Tsukuba,Tsukuba,Japan","University OF Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Interactive Systems University of Tsukuba,Tsukuba,Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"University OF Tsukuba","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017159721","display_name":"Toshiaki Tsuji","orcid":"https://orcid.org/0000-0002-4532-4514"},"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","Saitama-university"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering Saitama University, Saitama, Japan","institution_ids":["https://openalex.org/I72253084"]},{"raw_affiliation_string":"Saitama-university","institution_ids":["https://openalex.org/I72253084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02615826,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9939000010490417,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/autoregressive-model","display_name":"Autoregressive model","score":0.8804284334182739},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.677819013595581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6395410299301147},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6304411888122559},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6095325350761414},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5846090912818909},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5294437408447266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5199552774429321},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.513806164264679},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4792223572731018},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.47021201252937317},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3375757932662964},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23065972328186035},{"id":"https://openalex.org/keywords/econometrics","display_name":"Econometrics","score":0.111962229013443},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10562518239021301},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09254226088523865}],"concepts":[{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.8804284334182739},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.677819013595581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6395410299301147},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6304411888122559},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6095325350761414},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5846090912818909},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5294437408447266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5199552774429321},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.513806164264679},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4792223572731018},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.47021201252937317},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3375757932662964},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23065972328186035},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.111962229013443},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10562518239021301},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09254226088523865},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icm46511.2021.9385691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icm46511.2021.9385691","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2103.08879","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.08879","pdf_url":"https://arxiv.org/pdf/2103.08879","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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"},{"id":"mag:3137204768","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2103.08879.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2103.08879","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.08879","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.08879","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.08879","pdf_url":"https://arxiv.org/pdf/2103.08879","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1851340573","https://openalex.org/W2031580264","https://openalex.org/W2096323098","https://openalex.org/W2102279668","https://openalex.org/W2117465814","https://openalex.org/W2281217110","https://openalex.org/W2514336166","https://openalex.org/W2577480838","https://openalex.org/W2591217786","https://openalex.org/W2604382266","https://openalex.org/W2753394118","https://openalex.org/W2771075179","https://openalex.org/W2778734135","https://openalex.org/W2910788814","https://openalex.org/W2952606116","https://openalex.org/W2962736495","https://openalex.org/W2963669336","https://openalex.org/W2976205474","https://openalex.org/W3003945131","https://openalex.org/W3022566517","https://openalex.org/W3042616176","https://openalex.org/W6728806479","https://openalex.org/W6736179038","https://openalex.org/W6755864488"],"related_works":["https://openalex.org/W3148745341","https://openalex.org/W2108689239","https://openalex.org/W3104268834","https://openalex.org/W2974887792","https://openalex.org/W3205738861","https://openalex.org/W3132689960","https://openalex.org/W2976091347","https://openalex.org/W1835528352","https://openalex.org/W2186601217","https://openalex.org/W2150730030","https://openalex.org/W3105320065","https://openalex.org/W2010065335","https://openalex.org/W2757240943","https://openalex.org/W143403533","https://openalex.org/W2086922256","https://openalex.org/W1965226337","https://openalex.org/W2156938623","https://openalex.org/W3011993100","https://openalex.org/W3008854023","https://openalex.org/W3211572278"],"abstract_inverted_index":{"In":[0,27,52,72,144],"the":[1,73,85,91,95,123,132,140,152,155,160],"near":[2],"future,":[3],"robots":[4,39],"are":[5,88,131],"expected":[6],"to":[7,40,68],"work":[8],"with":[9,48],"humans":[10],"or":[11],"operate":[12,45],"alone":[13],"and":[14,25,44,78,128,135,157],"may":[15],"replace":[16],"human":[17],"workers":[18],"in":[19,99,116],"various":[20],"fields":[21],"such":[22],"as":[23,126],"homes":[24],"factories.":[26],"a":[28,107,146],"previous":[29,92],"study,":[30],"we":[31,54],"proposed":[32,56,115],"bilateral":[33,64],"control-based":[34,65],"imitation":[35,66],"learning":[36,67],"that":[37,150],"enables":[38],"utilize":[41],"force":[42],"information":[43],"almost":[46],"simultaneously":[47],"an":[49,57],"expert's":[50],"demonstration.":[51],"addition,":[53,145],"recently":[55],"autoregressive":[58,109],"neural":[59,110],"network":[60,111],"model":[61,112,120],"(SM2SM)":[62],"for":[63],"obtain":[69],"long-term":[70],"inferences.":[71],"SM2SM":[74,96],"model,":[75,97],"both":[76],"master":[77,86,136],"slave":[79,124,134,161],"states":[80,87],"must":[81],"be":[82],"input,":[83],"but":[84],"obtained":[89],"from":[90],"outputs":[93,130],"of":[94,159],"resulting":[98],"destabilized":[100],"estimation":[101],"under":[102],"large":[103],"environmental":[104],"variations.":[105],"Hence,":[106],"new":[108,147],"(S2SM)":[113],"is":[114,162],"this":[117],"study.":[118],"This":[119],"requires":[121],"only":[122],"state":[125],"input":[127],"its":[129],"next":[133],"states,":[137],"thereby":[138],"improving":[139],"task":[141],"success":[142],"rates.":[143],"feedback":[148],"controller":[149],"utilizes":[151],"error":[153],"between":[154],"responses":[156],"estimates":[158],"proposed,":[163],"which":[164],"shows":[165],"better":[166],"reproducibility.":[167]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
