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.
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