Mamba as a Motion Encoder for Robotic Imitation Learning

Abstract

Recent advancements in imitation learning, particularly with the integration of Large Language Model (LLM) techniques, are set to significantly improve robots’ dexterity and adaptability. This paper proposes using Mamba, a state-of-the-art architecture with potential applications in LLMs, for robotic imitation learning, highlighting its ability to function as an encoder that effectively captures contextual information. By reducing the dimensionality of the state space, Mamba operates similarly to an autoencoder. It effectively compresses the sequential information into state variables while preserving the essential temporal dynamics necessary for accurate motion prediction. Experimental results in multiple tasks demonstrate that Mamba achieves smaller estimation errors and superior success rates compared to Transformers in practical task execution. This performance is attributed to Mamba’s structure, which encompasses the state space model. Additionally, the study investigates Mamba’s capacity to serve as a real-time motion generator with a limited amount of training data.

Keywords

• Bilateral control
• imitation learning
• large language model
• learning from demonstration
• motion control
• motion generation