{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,13]],"date-time":"2026-10-13T17:33:54Z","timestamp":1791912834476,"version":"4.3.4"},"reference-count":75,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"MIT-Novo Nordisk Artificial Intelligence Postdoctoral Fellows Program"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2026]]},"DOI":"10.1109\/tro.2026.3717255","type":"journal-article","created":{"date-parts":[[2026,7,27]],"date-time":"2026-07-27T19:15:23Z","timestamp":1785179723000},"page":"3160-3177","source":"Crossref","is-referenced-by-count":2,"title":["Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks"],"prefix":"10.1109","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-4694-0636","authenticated-orcid":false,"given":"Noah","family":"Geiger","sequence":"first","affiliation":[{"name":"Karlsruhe Institute of Technology","place":["Karlsruhe, Germany"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4879-7680","authenticated-orcid":false,"given":"Tamim","family":"Asfour","sequence":"additional","affiliation":[{"name":"Karlsruhe Institute of Technology","place":["Karlsruhe, Germany"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5366-2145","authenticated-orcid":false,"given":"Neville","family":"Hogan","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology","place":["Cambridge, MA, USA"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0166-3669","authenticated-orcid":false,"given":"Johannes","family":"Lachner","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology","place":["Cambridge, MA, USA"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-51547-2_12"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3153949"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/02783649251393332"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211011639"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087854"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.3990\/1.9789036553568"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-20988-3_3"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1002\/andp.18531650603"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2294096"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/02783649241258782"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10801502"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793591"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506757"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-28619-4_66"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3300230"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8239534"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920913938"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008292328909"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811957"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3146931"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/02783649251398875"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2830405"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2025.3530345"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811986"},{"key":"ref26","article-title":"Model-based variable impedance learning control for robotic manipulation","volume-title":"Robot. Auton. Syst.","volume":"170","author":"Anand","year":"2023"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3389556"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989042"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2017.8009361"},{"key":"ref30","first-page":"3137","article-title":"A generalized path integral control approach to reinforcement learning","volume":"11","author":"Theodorou","year":"2010","journal-title":"J. Mach. Learn. Res."},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980280"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2210294"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.2514\/1.G001921"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3187276"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11128462"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1177\/02783649241273668"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10801521"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2026.1906861"},{"key":"ref40","article-title":"Perceiver-Actor: A multi-task transformer for robotic manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Shridhar","year":"2022"},{"key":"ref41","first-page":"2679","article-title":"OpenVLA: An open-source vision-language-action model","volume-title":"Proc. 8th Conf. Robot Learn.","author":"Kim","year":"2025"},{"key":"ref42","article-title":"A careful examination of large behavior models for multitask dexterous manipulation","author":"Team","year":"2025"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11128452"},{"key":"ref44","article-title":"Using apple vision pro to train and control robots","author":"Park","year":"2024"},{"key":"ref45","first-page":"9902","article-title":"Planning with diffusion for flexible behavior synthesis","volume-title":"Proc. 39th Int. Conf. Mach. Learn.","author":"Janner","year":"2022"},{"key":"ref46","first-page":"8162","article-title":"Improved denoising diffusion probabilistic models","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Nichol","year":"2021"},{"key":"ref47","first-page":"6840","article-title":"Denoising diffusion probabilistic models","volume-title":"Proc. 34th Int. Conf. Neural Inf. Process. Syst.","author":"Ho","year":"2020"},{"key":"ref48","first-page":"2256","article-title":"Deep unsupervised learning using nonequilibrium thermodynamics","volume-title":"Proc. 32nd Int. Conf. Mach. Learn.","author":"Sohl-Dickstein","year":"2015"},{"key":"ref49","article-title":"An introduction to flow matching and diffusion models","author":"Holderrieth","year":"2025"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-026-02893-1"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610749"},{"key":"ref52","article-title":"Denoising diffusion implicit models","author":"Song","year":"2020"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2025.1606247"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.48550\/ARXIV.1706.03762"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1145\/3637528.3671451"},{"key":"ref56","article-title":"An image is worth 16x16 words: Transformers for image recognition at scale","volume-title":"Proc. 9th Int. Conf. Learn. Representations","author":"Dosovitskiy","year":"2021"},{"key":"ref57","first-page":"4651","article-title":"Perceiver: General perception with iterative attention","volume-title":"Proc. 38th Int. Conf. Mach. Learn.","author":"Jaegle","year":"2021"},{"key":"ref58","first-page":"23671","article-title":"What language model architecture and pretraining objective work best for zero-shot generalization","volume-title":"Proc. 39th Int. Conf. Mach. Learn.","author":"Wang","year":"2022"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.1016\/j.aiopen.2022.10.001"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593647"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2294096"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1201\/9781420039733.ch19"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1177\/02783649211011639"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1242165"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1145\/325165.325242"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-6613(99)01327-3"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1162\/NECO_a_00393"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1177\/02783649241273668"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1995.7.1.108"},{"key":"ref70","article-title":"Divide et impera: Decoding impedance strategies for robotic peg-in-hole assembly","author":"Lachner","year":"2025"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10342382"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/AIM55361.2024.10637158"},{"key":"ref73","article-title":"Elementary dynamic actions: Key structures for contact-rich manipulation","volume-title":"Proc. IROS 2023 Workshop Leveraging Models Contact-Rich Manipulation","author":"Lachner","year":"2023"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149634"},{"key":"ref75","first-page":"468","article-title":"Remote center compliance with adaptive compliance control","volume-title":"Proc. IEEE Int. Conf. Robot. Autom.","author":"Hirai","year":"1990"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/11297026\/11623710.pdf?arnumber=11623710","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,25]],"date-time":"2026-09-25T05:08:09Z","timestamp":1790312889000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11623710\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026]]},"references-count":75,"URL":"https:\/\/doi.org\/10.1109\/tro.2026.3717255","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026]]}}}