Bi-HIL: Bilateral Control-Based Multimodal Hierarchical Imitation Learning for Long-Horizon Contact-Rich Manipulation

from Embodied AI 101 · host Shaoqing Tan

Proposes a hierarchical imitation learning framework using bilateral control, subtask-level progress tracking, and keyframe memory to handle long-horizon, contact-rich manipulation tasks.

Episode metadata supplied by the publisher feed · Published Jun 26, 2026

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Bi-HIL: Bilateral Control-Based Multimodal Hierarchical Imitation Learning for Long-Horizon Contact-Rich Manipulation

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