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Compliance for Free: Learning Identifiable Impedance via Bilateral Teleoperation

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Vision-language-action models tell a robot where to move, but not how hard to push. Contact-rich tasks depend on that second quantity, compliance, yet no widely used demonstration interface records it. The obstacle is identifiability as realized pose and measured force cannot separate the operator's intended equilibrium from their stiffness, so VR controllers, SpaceMouse and handheld grippers cannot supply compliance supervision even in principle. Prior compliance-output policies work around this with hand-specified task structure, privileged simulation contact state, or dedicated force and ta

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