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arXiv · 2610.22977

Hardware-as-Regularization: Enhancing Data Consistency in Imitation Learning via an Adjustable Passive Compliant Leader Arm

Hideyuki Ichiwara·Yushi Kaida·Hirokazu Ishida
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Abstract

Low-cost passive leader arms enable scalable data collection for imitation learning, but their lack of restoring forces leaves redundant joints unconstrained, yielding highly inconsistent joint-space trajectories. We address this with a low-cost passive joint module (an adjustable mechanical clutch and a 3D-printed spiral spring) that pulls each joint toward a user-defined neutral posture. This passive restoring force acts as a physical prior equivalent to joint-space $L_2$ regularization (``Hardware-as-Regularization''), improving kinematic consistency with shorter completion time than an unregularized arm and preserved movement smoothness. Experiments show substantial variance reduction over a naive passive arm, trajectory consistency on par with an active virtual spring of the same actuator class, and substantially higher downstream success rates (e.g., 73.3% vs. 36.7% on Block Stacking); a stiffness sweep shows consistency degrading monotonically as stiffness decreases, confirming that mechanical stiffness behaves like a regularization weight.

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Hideyuki Ichiwara, Yushi Kaida, Hirokazu Ishida. 2026-10-16. Hardware-as-Regularization: Enhancing Data Consistency in Imitation Learning via an Adjustable Passive Compliant Leader Arm. https://arxiv.org/abs/2610.22977

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