Impedance Cloning: Learning Equilibrium Point Parameters for Contact-Rich Manipulation

arXiv:2609.30842 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Comments: 8 pages, 7 figures, 3 tables. Submitted to IEEE Robotics and Automation Letters (RA-L)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Equilibrium Point — 22× in this paper
• Action Space — 12× in this paper · explained in 1 episode
• Variable Impedance Control — 6× in this paper
• Generalization — 4× in this paper · explained in 13 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Adaptability — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Generative Model — 3× in this paper · explained in 2 episodes
• Generative Models — 3× in this paper · explained in 2 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Generalizability — 2× in this paper · explained in 6 episodes
• Human-in-the-Loop — 2× in this paper · explained in 3 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• AdamW Optimizer — 1× in this paper · explained in 1 episode
• Adaptive Mechanism — 1× in this paper · explained in 1 episode
• Adaptive Strategy — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Bayesian Optimization — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Cooperation — 1× in this paper · explained in 2 episodes
• Dynamic Time Warping — 1× in this paper
• Dynamic Time Warping (DTW) — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Reconstruction Error — 1× in this paper · explained in 2 episodes
• State Space Model — 1× in this paper

Sources

• A Contact Model based on Denoising Diffusion to Learn Variable Impedance Control for Contact-rich Manipulation
• ILBiT: Imitation Learning for Robot Using Position and Torque Information based on Bilateral Control with Transformer
• Mamba: Linear-Time Sequence Modeling with Selective State Spaces

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