SOURCE-LINKED INTELLIGENCE
Continuous Manifold-Decomposed Impedance Retargeting for Contact-Rich Imitation Learning
CMDIR extends Manifold-Decomposed Impedance Retargeting (MDIR) to transform fixed-impedance demonstrations into continuous variable-impedance controllers, which can also serve as structured supervision for imitation learning. Continuous Task-Manifold Impedance Representation (TMIR) pairs an evolving task frame with controller instructions. Demo-relative Compromise dynamics retain moving-basis transport and control/physical metric mismatch, yielding displacement, reaction-impulse, and perturbation-sensitivity criteria. Quality-to-Fast automatically compiles a solver structure from development p
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-14T15:16:34.000Z
First collected: 2026-09-20T09:41:04.278Z. This is not the publication date.