Imp-ACT: Adaptive Impedance Control and Action Chunking with Transformers to Learn Contact-Rich Manipulation from Demonstrations

arXiv:2609.31225 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Comments: 9 pages, 5 figures, submitted to IEEE International Conference on Robotics & Automation 2027, for associated video see https://youtu.be/iAu_HFeaCRg

Code: https://github.com/huggingface/lerobot

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

Terminology

• Adaptation — 13× in this paper · explained in 1 episode
• Accuracy — 3× in this paper · explained in 1 episode
• Action Chunking — 3× in this paper · explained in 1 episode
• Core — 3× in this paper · explained in 2 episodes
• Transformer — 3× in this paper · explained in 2 episodes
• Action Chunking with Transformer — 2× in this paper
• Distribution Shift — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Covariate Shift — 1× in this paper · explained in 2 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• CRAFT: Adapting VLA Models to Contact-rich Manipulation via Force-aware Curriculum Fine-tuning
• TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
• CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation

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