Preprint
Oct 2026
Demonstration Calibrated Port-Hamiltonian Retuning for Manipulation Policies
Diffusion and VLA policies for manipulation are often deployed through downstream impedance controllers. The stiffness and damping gains of these controllers affect task success, yet are commonly inherited from data collection rather than selected for the deployed policy. Although empirical gain sweeps can improve perf...
Yu-Long Yang, Fan Wu, Christine Allen-Blanchette et al.
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