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[Submitted on 11 Sep 2026] Title:Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity View a PDF of the paper titled Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity, by Takumi Kobayashi and 2 other authors View PDF HTML (experimental) Abstract:Bilateral control-based imitation learning captures both position and force information, making it well suited to contact-rich manipulation. However, existing approaches provide limited means for an operator to specify how a learned task should be executed at inference time, such as slowly or quickly, gently or firmly. We propose Bi-MoDe, 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. We evaluate the method on a real-world whiteboard wiping task with combinations of temporal and physical modifiers. Bi-MoDe improves physical directive following over the action-chunking baseline while maintaining comparable temporal control. An ablation further shows that decoder conditioning and latent-space composition interact, and that their combination is important for accurate physical directive following. Additional material is available at the this https URL Subjects: Robotics (cs.RO) Cite as: arXiv:2609.16040 [cs.RO] (or arXiv:2609.16040v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.16040 arXiv-issued DOI via DataCite Submission history From: Masato Kobayashi [view email] [v1] Fri, 11 Sep 2026 22:56:08 UTC (28,156 KB) Full-text links: Access Paper: View a PDF of the paper titled Bi-MoDe: Bilateral Control-based Imitation Learning via Modifier-Conditioned Decoding for Modulation of Execution Speed and Contact Intensity, by Takumi Kobayashi and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)