Mind the Gap: Learning Implicit Impedance in Visuomotor Policies via Intent-Execution Mismatch

Cuijie Xu1, Shurui Zheng1,2, Zihao Su3, Yuanfan Xu1, Tinghao Yi4, Xudong Zhang1, Jian Wang1, Yu Wang1, Jinchen Yu1*
1Department of Electronic Engineering, Tsinghua University
2Qiuzhen College, Tsinghua University
3Jilin University
4EFORT Intelligent Robot Co., Ltd.
*Corresponding author: yu-jc@mail.tsinghua.edu.cn
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Implicit Impedance Learning on Sensorless Hardware: our method enables low-cost robots to master force-sensitive and dynamic tasks without explicit force or tactile feedback.

BibTeX

@inproceedings{Xu2026MindTheGap,
  title={Mind the Gap: Learning Implicit Impedance in Visuomotor Policies via Intent-Execution Mismatch},
  author={Xu, Cuijie and Zheng, Shurui and Su, Zihao and Xu, Yuanfan and Yi, Tinghao and Zhang, Xudong and Wang, Jian and Wang, Yu and Yu, Jinchen},
  year={2026},
}