Intent-guided Adaptive Stiffening for Visuomotor Policies under Unknown Resistance

cs.RO

Submitted: 2026-10-13

Updated: 2026-10-13

Comments: Submitted to ICRA 2027

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

Sources

• Flow Matching for Generative Modeling
• VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations
• Plug, Play, and Comply: A Modular Framework for Online Variable Impedance with Arbitrarily Oriented Compliance Axes
• Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks

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