{"id":"https://openalex.org/W4408860530","doi":"https://doi.org/10.1109/icm62621.2025.10934918","title":"Error-Feedback Model for Output Correction in Bilateral Control-Based Imitation Learning","display_name":"Error-Feedback Model for Output Correction in Bilateral Control-Based Imitation Learning","publication_year":2025,"publication_date":"2025-02-28","ids":{"openalex":"https://openalex.org/W4408860530","doi":"https://doi.org/10.1109/icm62621.2025.10934918"},"language":"en","primary_location":{"id":"doi:10.1109/icm62621.2025.10934918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icm62621.2025.10934918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"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":["Intelligent and Mechanical Interaction Systems, University of Tsukuba,Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent and Mechanical Interaction Systems, University of Tsukuba,Tsukuba,Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114731493","display_name":"Masashi Konosu","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":"Masashi Konosu","raw_affiliation_strings":["Intelligent and Mechanical Interaction Systems, University of Tsukuba,Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent and Mechanical Interaction Systems, University of Tsukuba,Tsukuba,Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"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":["Systems and Information Engineering, University of Tsukuba,Tsukuba,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Systems and Information Engineering, University of Tsukuba,Tsukuba,Japan","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":["Science and Engineering, Saitama University,Saitama,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Science and Engineering, Saitama University,Saitama,Japan","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":0.05202453,"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":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.979200005531311,"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":0.979200005531311,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9477999806404114,"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/imitation","display_name":"Imitation","score":0.7339707612991333},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7155798673629761},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5769035220146179},{"id":"https://openalex.org/keywords/error-detection-and-correction","display_name":"Error detection and correction","score":0.5651257634162903},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.45675262808799744},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40177422761917114},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3926931619644165},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19863906502723694},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.18378421664237976},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1755480170249939},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11216339468955994}],"concepts":[{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7339707612991333},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7155798673629761},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5769035220146179},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.5651257634162903},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.45675262808799744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40177422761917114},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3926931619644165},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19863906502723694},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.18378421664237976},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1755480170249939},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11216339468955994},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icm62621.2025.10934918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icm62621.2025.10934918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6180104088","display_name":null,"funder_award_id":"JPNP20004","funder_id":"https://openalex.org/F4320321680","funder_display_name":"New Energy and Industrial Technology Development Organization"}],"funders":[{"id":"https://openalex.org/F4320321680","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2102279668","https://openalex.org/W2162531249","https://openalex.org/W2770085058","https://openalex.org/W3173693019","https://openalex.org/W4214501175","https://openalex.org/W4283390866","https://openalex.org/W4297691575","https://openalex.org/W4385430674","https://openalex.org/W4387934957","https://openalex.org/W4388895120","https://openalex.org/W6623316541","https://openalex.org/W6754184789","https://openalex.org/W6845737239","https://openalex.org/W6860003303"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2052682608"],"abstract_inverted_index":{"In":[0,89,103],"recent":[1],"years,":[2],"imitation":[3],"learning":[4],"using":[5,72],"neural":[6,17,54,146],"networks":[7,18,55,147],"has":[8],"enabled":[9],"robots":[10],"to":[11,30,44,66],"perform":[12],"flexible":[13],"tasks.":[14],"However,":[15],"since":[16],"operate":[19],"in":[20,76,98,112],"a":[21,28,41,50,73,141],"feedforward":[22],"structure,":[23],"they":[24],"do":[25],"not":[26],"possess":[27],"mechanism":[29,43],"compensate":[31],"for":[32,53],"output":[33,133],"errors.":[34,47],"To":[35],"address":[36],"this":[37,93,107],"limitation,":[38],"we":[39,123],"developed":[40],"feedback":[42],"correct":[45],"these":[46],"By":[48],"employing":[49],"hierarchical":[51],"structure":[52],"comprising":[56],"lower":[57,62,78,127],"and":[58],"upper":[59,69,136],"layers,":[60],"the":[61,68,77,86,90,104,126,132,135],"layer":[63,128],"was":[64],"controlled":[65],"follow":[67],"layer.":[70,137],"Additionally,":[71],"multi-layer":[74],"perceptron":[75],"layer,":[79],"which":[80],"lacks":[81],"an":[82],"internal":[83],"state,":[84],"enhanced":[85],"error":[87,121],"feedback.":[88],"character-writing":[91,105],"task,":[92,106],"model":[94,108],"demonstrated":[95,109],"improved":[96,110],"accuracy":[97,111],"writing":[99,113],"previously":[100,114],"untrained":[101,115],"characters.":[102,116],"Through":[117],"autonomous":[118],"control":[119,149],"with":[120,148],"feedback,":[122],"confirmed":[124],"that":[125],"could":[129],"effectively":[130],"track":[131],"of":[134],"This":[138],"study":[139],"represents":[140],"promising":[142],"step":[143],"toward":[144],"integrating":[145],"theories.":[150]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}