{"id":"https://openalex.org/W4409985617","doi":"https://doi.org/10.1109/tie.2025.3561816","title":"Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations","display_name":"Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations","publication_year":2025,"publication_date":"2025-04-30","ids":{"openalex":"https://openalex.org/W4409985617","doi":"https://doi.org/10.1109/tie.2025.3561816"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2025.3561816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3561816","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101808587","display_name":"Bo Zhou","orcid":"https://orcid.org/0000-0002-3908-7575"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Zhou","raw_affiliation_strings":["School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-3908-7575","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104265283","display_name":"Ruixuan Jiao","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruixuan Jiao","raw_affiliation_strings":["School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0003-0344-2664","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yi Li","orcid":"https://orcid.org/0009-0003-8605-9838"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Li","raw_affiliation_strings":["School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0003-8605-9838","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101903766","display_name":"Xiaogang Yuan","orcid":"https://orcid.org/0009-0003-3842-2807"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaogang Yuan","raw_affiliation_strings":["School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0003-3842-2807","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100386863","display_name":"Fang Fang","orcid":"https://orcid.org/0000-0002-5445-0766"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fang Fang","raw_affiliation_strings":["School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-5445-0766","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100618284","display_name":"Shihua Li","orcid":"https://orcid.org/0000-0001-9044-7137"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shihua Li","raw_affiliation_strings":["School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","School of Automation, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-9044-7137","affiliations":[{"raw_affiliation_string":"School of Automation, Southeast University and the Key Laboratory of Measurement and Control of CSE, Ministry of Education, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]},{"raw_affiliation_string":"School of Automation, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":1.5816,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81111805,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"72","issue":"11","first_page":"11520","last_page":"11529"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9466000199317932,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9466000199317932,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9416000247001648,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9380000233650208,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.7885726690292358},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5206570029258728},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39827412366867065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3687155544757843},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3565118610858917},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3228173851966858},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30583763122558594},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2522904872894287},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.22609606385231018},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14386284351348877}],"concepts":[{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.7885726690292358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5206570029258728},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39827412366867065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3687155544757843},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3565118610858917},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3228173851966858},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30583763122558594},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2522904872894287},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.22609606385231018},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14386284351348877}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3561816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3561816","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G729297588","display_name":null,"funder_award_id":"62073075","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1978023077","https://openalex.org/W2071387541","https://openalex.org/W2889324057","https://openalex.org/W2949924544","https://openalex.org/W2962975726","https://openalex.org/W2963669336","https://openalex.org/W2968883249","https://openalex.org/W3028308378","https://openalex.org/W3081200565","https://openalex.org/W3091133300","https://openalex.org/W3129756265","https://openalex.org/W4251116221","https://openalex.org/W4318953217","https://openalex.org/W4385403811","https://openalex.org/W4385430618","https://openalex.org/W4385430674","https://openalex.org/W4385430685","https://openalex.org/W4389665520","https://openalex.org/W4396523239","https://openalex.org/W4401417422","https://openalex.org/W4402354007","https://openalex.org/W4402354112","https://openalex.org/W4402354127","https://openalex.org/W4405778841","https://openalex.org/W4405784982","https://openalex.org/W4413917780","https://openalex.org/W4413925798"],"related_works":["https://openalex.org/W2200472972","https://openalex.org/W2031643172","https://openalex.org/W2047335472","https://openalex.org/W2367857055","https://openalex.org/W3180133250","https://openalex.org/W2024162929","https://openalex.org/W2363278848","https://openalex.org/W1999989966","https://openalex.org/W2021013760","https://openalex.org/W2031634947"],"abstract_inverted_index":{"Contact":[0],"force":[1,161],"in":[2,30],"contact-rich":[3,52],"environments":[4],"is":[5],"an":[6,43,107],"essential":[7],"modality":[8],"for":[9,22,48,110],"robots":[10],"to":[11,20,67,87,133,156,163],"perform":[12],"general-purpose":[13],"manipulation":[14],"tasks,":[15,126],"as":[16],"it":[17],"provides":[18],"information":[19],"compensate":[21],"the":[23,74,144,159,174],"deficiencies":[24],"of":[25],"visual":[26],"and":[27,35,51,72,80,91,103,148,151,173],"proprioceptive":[28],"data":[29,75],"collision":[31],"perception,":[32],"high-precision":[33],"grasping,":[34],"efficient":[36,153],"manipulation.":[37],"In":[38],"this":[39],"article,":[40],"we":[41,56,82],"propose":[42,83],"admittance":[44,108],"visuomotor":[45],"policy":[46],"framework":[47,142],"continuous,":[49],"general-purpose,":[50],"manipulations.":[53],"During":[54,78],"demonstrations,":[55],"designed":[57],"a":[58,84],"low-cost,":[59],"user-friendly":[60],"teleoperation":[61],"system":[62],"with":[63,117],"contact":[64,93,100,154,160],"interaction,":[65],"aiming":[66],"gather":[68],"compliant":[69],"robot":[70],"demonstrations":[71],"accelerate":[73],"collection":[76],"process.":[77],"training":[79],"inference,":[81],"diffusion-based":[85],"model":[86],"plan":[88],"action":[89,112,131],"trajectories":[90],"desired":[92],"forces":[94],"from":[95],"multimodal":[96],"observation":[97],"that":[98],"includes":[99],"force,":[101],"vision":[102],"proprioception.":[104],"We":[105],"utilize":[106],"controller":[109],"compliance":[111],"execution.":[113],"A":[114],"comparative":[115],"evaluation":[116],"two":[118],"state-of-the-art":[119],"methods":[120],"was":[121,167,177],"conducted":[122],"on":[123,129,169,179],"five":[124],"challenging":[125],"each":[127,165],"focusing":[128],"different":[130],"primitives,":[132],"demonstrate":[134],"our":[135,141],"framework\u2019s":[136],"generalization":[137],"capabilities.":[138],"Results":[139],"show":[140],"achieves":[143],"highest":[145],"success":[146,175],"rate":[147,176],"exhibits":[149],"smoother":[150],"more":[152],"compared":[155],"other":[157],"methods,":[158],"required":[162],"complete":[164],"tasks":[166],"reduced":[168],"average":[170,180],"by":[171,181],"48.8%,":[172],"increased":[178],"15.3%.":[182],"Videos":[183],"are":[184],"available":[185],"at":[186],"<uri":[187],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[188],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://ryanjiao.github.io/AdmitDiffPolicy/</uri>.":[189]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
