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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 6

Robot motion control strategy based on improved behavior cloning algorithm

Huang Xiaoxia
Yang Bo
Xiang Xin
Chen Ling
Chen Zhongxiang
Sun Shunyao
Xiao Hongfeng
College of Engineering & Design, Hunan Normal University, Changsha 410081, China
DOI: 10.19734/j.issn.1001-3695.2024.11.0474

Abstract

This paper addresses the challenges of complex motion control strategy training, inefficient and imprecise path planning execution in robots performing fine operations such as dual-arm cooperative insertion tasks. It proposes an improved robot behavior cloning algorithm based on multi-scale feature pyramids and attention mechanisms. The algorithm combines residual networks and feature pyramids to design the backbone network, extracting and fusing multi-scale image features, which enhances the robot's environmental perception and visual feedback capabilities. It introduces an action segmentation module to improve the accuracy and smoothness of control strategies, reducing compound errors in behavior cloning. Additionally, the algorithm trains the control strategy as a conditional variational autoencoder (CVAE) using the attention mechanism to learn the distribution of demonstration data and capture the correlation between image features and actions. This approach improves the generalization ability and adaptability of the strategy in unfamiliar environments. Simulation results show that the proposed algorithm outperforms five baseline models in terms of success rate and trajectory smoothness in two fine operation tasks. These results demonstrate that the algorithm can execute precise robot fine operation tasks through simple training.

Foundation Support

国家自然科学基金资助项目(12271525)
湖南省科技创新计划项目(2024JK2022)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.11.0474
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 6

Publish History

[2025-03-10] Accepted Paper

Cite This Article

黄小霞, 阳波, 向鑫, 等. 基于改进行为克隆算法的机器人运动控制策略 [J]. 计算机应用研究, 2025, 42 (6). (2025-03-10). https://doi.org/10.19734/j.issn.1001-3695.2024.11.0474. (Huang Xiaoxia, Yang Bo, Xiang Xin, et al. Robot motion control strategy based on improved behavior cloning algorithm [J]. Application Research of Computers, 2025, 42 (6). (2025-03-10). https://doi.org/10.19734/j.issn.1001-3695.2024.11.0474. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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