MDIR: A Task-Manifold Impedance Retargeting Method for Contact-Rich Teleoperation

arXiv:2607.29271v1 Announce Type: new Abstract: Fixed Cartesian impedance makes contact-rich teleoperation demonstrations practical, but gains that secure progress and contact support also determine impact and force variability. We study single-demonstration controller-to-controller impedance retargeting. Given one fixed Cartesian impedance command sequence {K0, D0, xcmd}, Manifold-Decomposed Impedance Retargeting (MDIR) deterministically reparameterizes the recorded controller into an executabl...