Dynamic Behavior Cloning With Temporal Feature Prediction: Enhancing Robotic Arm Manipulation in Moving Object Tasks

doi:10.1109/LRA.2025.3557746

	Dynamic Behavior Cloning With Temporal Feature Prediction: Enhancing Robotic Arm Manipulation in Moving Object Tasks
	Zhang, Yifan 1,2; Wang, Ruiping 1,2; Chen, Xilin 1,2
	2025-06-01
发表期刊	IEEE ROBOTICS AND AUTOMATION LETTERS
ISSN	2377-3766
卷号	10 期号:6 页码:5209-5216
摘要	In numerous real-world applications, the ability to accurately perceive and respond to dynamic changes in the environment, while also maintaining the flexibility to transfer learned skills across different tasks, is crucial for the effective operation of robotic arms. Behavior cloning is particularly promising in this context due to its data efficiency and strong task transferability, enabling robots to quickly adapt to new tasks by learning from demonstrations. However, traditional behavior cloning methods, which rely primarily on the observation and state information of the current frame to predict subsequent actions, fall short in dynamic contexts due to their static nature. To address this limitation, we propose Dynamic Behavior Cloning with Temporal Feature Prediction (DBC-TFP), which integrates with behavior cloning by leveraging historical frames to capture dynamic features crucial for predicting future scene images. This method uses a loss function based on the mean squared error (MSE) between the predicted future scene image and the ground truth counterpart, improving the model's accuracy in action prediction for dynamic scenarios. To evaluate our approach, we design a benchmark comprising eight task scenarios, including six foundational tasks and two advanced tasks. Experimental results on this benchmark demonstrate that DBC-TFP significantly improves the success rate of behavior cloning in dynamic scenarios compared to traditional behavior cloning methods.
关键词	Cloning Robots Visualization Trajectory Predictive models Dynamics Three-dimensional displays Manipulator dynamics Adaptation models Transformers Imitation learning deep learning in grasping and manipulation
DOI	10.1109/LRA.2025.3557746
收录类别	SCI
语种	英语
资助项目	National Science and Technology Major Project of China[2021ZD0111901]
WOS研究方向	Robotics
WOS类目	Robotics
WOS记录号	WOS:001470339100005
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/40597
专题	中国科学院计算技术研究所期刊论文_英文
通讯作者	Chen, Xilin
作者单位	1.Chinese Acad Sci, Inst Comp Technol, Key Lab AI Safety CAS, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Yifan,Wang, Ruiping,Chen, Xilin. Dynamic Behavior Cloning With Temporal Feature Prediction: Enhancing Robotic Arm Manipulation in Moving Object Tasks[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2025,10(6):5209-5216.
APA	Zhang, Yifan,Wang, Ruiping,&Chen, Xilin.(2025).Dynamic Behavior Cloning With Temporal Feature Prediction: Enhancing Robotic Arm Manipulation in Moving Object Tasks.IEEE ROBOTICS AND AUTOMATION LETTERS,10(6),5209-5216.
MLA	Zhang, Yifan,et al."Dynamic Behavior Cloning With Temporal Feature Prediction: Enhancing Robotic Arm Manipulation in Moving Object Tasks".IEEE ROBOTICS AND AUTOMATION LETTERS 10.6(2025):5209-5216.