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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
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