{"id":"https://openalex.org/W4416747752","doi":"https://doi.org/10.1109/iros60139.2025.11246712","title":"Imitation-Guided Bimanual Planning for Stable Manipulation under Changing External Forces","display_name":"Imitation-Guided Bimanual Planning for Stable Manipulation under Changing External Forces","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416747752","doi":"https://doi.org/10.1109/iros60139.2025.11246712"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5054771935","display_name":"Kuanqi Cai","orcid":"https://orcid.org/0000-0002-3655-8116"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Kuanqi Cai","raw_affiliation_strings":["HRI2, Istituto Italiano Di Tecnologia (IIT),Genova,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HRI2, Istituto Italiano Di Tecnologia (IIT),Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100601920","display_name":"Chunfeng Wang","orcid":"https://orcid.org/0000-0001-9676-8425"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunfeng Wang","raw_affiliation_strings":["Guangdong University of Technology,Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045875084","display_name":"Zeqi Li","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Zeqi Li","raw_affiliation_strings":["The Technical University of Munich,Munich,Germany,85748"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Technical University of Munich,Munich,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Haowen Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Haowen Yao","raw_affiliation_strings":["The Technical University of Munich,Munich,Germany,85748"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Technical University of Munich,Munich,Germany,85748","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101989449","display_name":"Weinan Chen","orcid":"https://orcid.org/0000-0001-6490-9131"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Chen","raw_affiliation_strings":["Guangdong University of Technology,Guangzhou,China,510006"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology,Guangzhou,China,510006","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040790541","display_name":"Luis Figueredo","orcid":"https://orcid.org/0000-0002-0759-3000"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Luis Figueredo","raw_affiliation_strings":["University of Nottingham,The School of Computer Science,UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nottingham,The School of Computer Science,UK","institution_ids":["https://openalex.org/I142263535"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["EPFL (Swiss Federal Institute of Technology in Lausanne),LASA, School of Engineering,Lausanne,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPFL (Swiss Federal Institute of Technology in Lausanne),LASA, School of Engineering,Lausanne,Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["HRI2, Istituto Italiano Di Tecnologia (IIT),Genova,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HRI2, Istituto Italiano Di Tecnologia (IIT),Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15932","last_page":"15939"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9688000082969666,"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":0.9688000082969666,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.006200000178068876,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.005499999970197678,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9258000254631042},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6395999789237976},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5504000186920166},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5187000036239624},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46309998631477356},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43230000138282776},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42239999771118164},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4115999937057495},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.39969998598098755}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9258000254631042},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6395999789237976},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5504000186920166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5378000140190125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5187000036239624},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46309998631477356},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43230000138282776},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42239999771118164},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41370001435279846},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4115999937057495},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.39969998598098755},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35920000076293945},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.34709998965263367},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.3425000011920929},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.33799999952316284},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.32199999690055847},{"id":"https://openalex.org/C194232998","wikidata":"https://www.wikidata.org/wiki/Q1606712","display_name":"Transition (genetics)","level":3,"score":0.31360000371932983},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2948000133037567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29440000653266907},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.2816999852657318},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.275299996137619},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.25870001316070557},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246712","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W281943252","https://openalex.org/W1487858791","https://openalex.org/W2013833162","https://openalex.org/W2136364779","https://openalex.org/W2141664020","https://openalex.org/W2162802308","https://openalex.org/W2219608386","https://openalex.org/W2225490378","https://openalex.org/W2294389641","https://openalex.org/W2331138946","https://openalex.org/W2561029698","https://openalex.org/W2592413607","https://openalex.org/W2778975529","https://openalex.org/W2889805803","https://openalex.org/W2993827140","https://openalex.org/W3014017504","https://openalex.org/W3041107080","https://openalex.org/W3041179834","https://openalex.org/W3206923457","https://openalex.org/W4247031047","https://openalex.org/W4362653204","https://openalex.org/W4390044181","https://openalex.org/W4405785349"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1],"in":[2,82,93,153],"dynamic":[3],"environments":[4],"often":[5,42],"requires":[6],"seamless":[7,97],"transitions":[8,24,98],"between":[9,99],"different":[10],"grasp":[11,23,39,70,154],"types":[12],"to":[13,44,77,129],"maintain":[14],"stability":[15,79],"and":[16,21,34,50,73,80,101,107,136,157],"efficiency.":[17],"However,":[18],"achieving":[19],"smooth":[20],"adaptive":[22],"remains":[25],"a":[26,111,124,145],"challenge,":[27],"particularly":[28],"when":[29],"dealing":[30],"with":[31,123],"external":[32,48],"forces":[33,49],"complex":[35],"motion":[36,54,74,132,158],"constraints.":[37],"Existing":[38],"transition":[40,71,155],"strategies":[41,72],"fail":[43],"account":[45],"for":[46,89,96],"varying":[47],"do":[51],"not":[52],"optimize":[53],"performance":[55,75],"effectively.":[56],"In":[57],"this":[58],"work,":[59],"we":[60],"propose":[61],"an":[62,117],"Imitation-Guided":[63],"Bimanual":[64],"Planning":[65],"Framework":[66],"that":[67],"integrates":[68],"efficient":[69],"optimization":[76],"enhance":[78],"dexterity":[81],"robotic":[83],"manipulation.":[84],"Our":[85],"approach":[86],"introduces":[87],"Strategies":[88],"Sampling":[90],"Stable":[91],"Intersections":[92],"Grasp":[94],"Manifolds":[95],"uni-manual":[100],"bi-manual":[102],"grasps,":[103],"reducing":[104],"computational":[105],"costs":[106],"regrasping":[108],"inefficiencies.":[109],"Additionally,":[110],"Hierarchical":[112],"Dual-Stage":[113],"Motion":[114],"Architecture":[115],"combines":[116],"Imitation":[118],"Learning-based":[119],"Global":[120],"Path":[121],"Generator":[122],"Quadratic":[125],"Programming-driven":[126],"Local":[127],"Planner":[128],"ensure":[130],"real-time":[131],"feasibility,":[133],"obstacle":[134],"avoidance,":[135],"superior":[137],"manipulability.":[138],"The":[139],"proposed":[140],"method":[141],"is":[142],"evaluated":[143],"through":[144],"series":[146],"of":[147],"force-intensive":[148],"tasks,":[149],"demonstrating":[150,162],"significant":[151],"improvements":[152],"efficiency":[156],"performance.":[159],"A":[160],"video":[161],"our":[163],"simulation":[164],"results":[165],"can":[166],"be":[167],"viewed":[168],"at":[169],"https://youtu.be/3DhbUsv4eDo.":[170]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
