@article{diffusionbasedimpedancelearningforcontac,
  title = {Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks},
  author = {Noah Geiger and Tamim Asfour and Neville Hogan and Johannes Lachner},
  year = {2025},
  eprint = {2509.19696},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2509.19696},
}