Author

Takumi Kobayashi

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Preprint Sep 2026

Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity

Bi-MoDe is proposed, a modifier-conditioned decoding framework that injects a constrained latent into every layer of the Transformer action decoder via adaLN-Zero, allowing behavioral directives to directly influence action-chunk generation.

Takumi Kobayashi, M. Kobayashi, Yuki Uranishi · 0 citations