Author

Hsiu-Chin Lin

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Preprint Aug 2026

VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations

Contact-rich manipulation requires precise tracking and mechanical compliance, where variable impedance control can improve robustness in task success, whereas static compliance cannot adapt to varying contact constraints. Variable impedance skills can be learned from demonstrations, avoiding complex modeling, but comp...

Hisham Khalil, Neil Fernandes, Thomas M. Kwok et al. · 0 citations

Jul 2026

SafeExplorer: An Unbiased Policy Gradient for Reinforcement Learning with Recovery Interventions

The resulting algorithm reduces training-time falls by factors of 233x, 48x, and 26x on HalfCheetah, Ant, and Unitree Go1 over standard PPO, while matching or exceeding PPO's final reward, and on Ant, where the recovery policy is unreliable, it is the only method that reaches 80% of the best final reward.

E. Daneshmand, Majid Khadiv, Glen Berseth et al. · arXiv.org · 0 citations