Compliance for Free: Learning Identifiable Impedance via Bilateral Teleoperation
cs.RO
Submitted: 2026-09-17
Updated: 2026-09-17
Project page: https://icra2027.github.io/free-compliance
Terminology
Sources
- SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics
- Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
- FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulation
- PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation
- Mind the Gap: Learning Implicit Impedance in Visuomotor Policies via Intent-Execution Mismatch
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