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‎index.html‎

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<!DOCTYPE html>
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<html>
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<html lang="en">
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<head>
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<meta charset="utf-8">
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<meta name="description" content="IMPACT">
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<meta name="keywords" content="Imitation Learning, Forceful Robotic Manipulation, Robot writing Calligraphy"/>
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<meta name="keywords" content="Imitation Learning, Forceful Robotic Manipulation, Robot writing Calligraphy">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>IMPACT</title>
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<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro" rel="stylesheet">
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<link href="https://fonts.googleapis.com/css2?family=GFS+Didot&display=swap" rel="stylesheet">
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<link href="https://fonts.googleapis.com/css2?family=JetBrains+Mono:wght@400;500&display=swap" rel="stylesheet">
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<link rel="stylesheet" href="static/css/bulma.min.css">
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<link href="https://fonts.googleapis.com/css2?family=Cormorant+Garamond:wght@400;500;600&family=IBM+Plex+Mono:wght@400;500&family=Libre+Baskerville:wght@400;700&display=swap" rel="stylesheet">
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<link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.15.4/css/all.css">
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<link rel="stylesheet" href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
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<link rel="stylesheet" href="static/css/index.css">
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<link rel="icon" type="image/x-icon" href="static/images/IMPACT.ico">
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<script src="https://webtracking.gao-jiawei.com/api/script.js" data-site-id="2410a3f24934"defer></script>
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<script src="https://webtracking.gao-jiawei.com/api/script.js" data-site-id="2410a3f24934" defer></script>
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</head>
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<body>
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<section class="hero is-link is-fullheight video" style="overflow: hidden; position:relative;">
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<div class="hero-video" style="height: 100%; width: 177.77777778vh; min-width: 100%;min-height: 56.25vw;">
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<video playsinline autoplay muted loop style="opacity: 0.6;">
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<div class="page-bg"></div>
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<main class="shell">
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<section class="hero card reveal">
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<video class="hero-video" playsinline autoplay muted loop>
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<source src="./resources/IMPACT_Teaser_NoText.web.mp4" type="video/mp4">
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</video>
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</div>
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<div class="overlay"></div>
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<!-- Hero head: will stick at the top -->
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<div class="hero-head is-hidden-mobile">
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<header class="navbar">
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<div class="container is-size-5">
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<div class="navbar-menu">
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<div class="navbar-end">
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<a class="navbar-item pl-4 pr-4" href="https://arxiv.org/abs/2406.14558v2">
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<span class="icon" style="margin-right:5px;">
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<img src="./static/images/arxiv.svg" alt="ArXiv" />
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</span>
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<span class="mono-link-text">arXiv</span> </a>
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<a href="https://www.youtube.com/watch?v=kboJsLPIrYI" class="navbar-item pl-4 pr-4">
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<span class="icon" style="margin-right:5px;">
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<img src="./static/images/youtube.svg" alt="Youtube" />
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</span>
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<span class="mono-link-text">Video</span> </a>
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<a href="https://github.com/Winston-Gu/IMPACT" class="navbar-item pl-4 pr-4">
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<span class="icon" style="margin-right:5px;">
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<i class="fab fa-github"></i>
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</span>
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<span class="mono-link-text">Code</span>
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</a>
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</div>
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</div>
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</div>
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</header>
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</div>
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<!-- Hero content: will be in the middle -->
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<div class="hero-body">
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<div class="container has-text-centered">
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<h1 class="title is-1 publication-title is-size-1-mobile" style="font-size: 15rem;">
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IMPACT
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</h1>
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<h1 class="title is-1 publication-subtitle is-size-4-mobile" style="font-size: 3rem;">
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Learning Internal-Model Predictive Control <br> for Forceful Robotic Manipulation
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</h1>
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<!-- <h1 class="subtitle is-1 publication-awards is-size-4-mobile" style="font-size: 3.5rem; margin-top: 2rem;">
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NeurIPS 2024 Spotlight
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</h1> -->
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</div>
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<div class="hero-overlay"></div>
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<div class="hero-content">
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<h1 class="title">IMPACT</h1>
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<h2 class="subtitle">Learning Internal-Model Predictive Control <br> for Forceful Robotic Manipulation</h2>
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<div class="cta-row mono-link-text">
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<a href="https://arxiv.org/abs/2406.14558v2" target="_blank" rel="noopener noreferrer" class="cta-btn">
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<i class="ai ai-arxiv" aria-hidden="true"></i> arXiv
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</a>
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<a href="https://www.youtube.com/watch?v=kboJsLPIrYI" target="_blank" rel="noopener noreferrer" class="cta-btn">
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<i class="fab fa-youtube" aria-hidden="true"></i> Video
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</a>
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<a href="https://github.com/Winston-Gu/IMPACT" target="_blank" rel="noopener noreferrer" class="cta-btn">
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<i class="fab fa-github" aria-hidden="true"></i> Code (Coming Soon!)
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</a>
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</div>
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<!-- Hero footer: will stick at the bottom -->
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</section>
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<section class="hero">
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<div class="hero-body">
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<div class="container">
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<div class="columns is-centered">
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<div class="column has-text-centered">
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<div class="column has-text-centered">
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<div class="publication-links">
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<span class="link-block">
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<a href="https://arxiv.org/abs/2406.14558v2" target="_blank"
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class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="ai ai-arxiv"></i>
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</span>
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<span class="mono-link-text">arXiv</span>
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</a>
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</span>
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<span class="link-block">
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<a href="https://www.youtube.com/watch?v=kboJsLPIrYI"
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class="external-link button is-normal is-rounded is-dark" target="_blank">
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<span class="icon">
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<i class="fab fa-youtube"></i>
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</span>
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<span class="mono-link-text">Video</span>
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</a>
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</span>
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<!-- twitter Link. -->
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<!-- <span class="link-block">
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<a href="https://x.com/WinstonGu_/status/1848393460849799439"
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class="external-link button is-normal is-rounded is-dark" target="_blank">
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<span class="icon">
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<i class="fab fa-twitter"></i>
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</span>
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<span>Summary</span>
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</a>
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</span> -->
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<!-- Code Link. -->
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<span class="link-block">
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<a href="https://github.com/Winston-Gu/IMPACT" class="external-link button is-normal is-rounded is-dark" target="_blank">
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<span class="icon">
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<i class="fab fa-github"></i>
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</span>
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<span class="mono-link-text">Code (Coming Soon!)</span>
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</a>
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</span>
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</div>
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<div class="publication-authors mt-4">
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<span class="author-block"><a href="https://gao-jiawei.com/" target="_blank" rel="noopener noreferrer">Jiawei Gao</a><sup>1,3</sup>,</span>
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<span class="author-block"><a href="https://chaoqi-liu.com/" target="_blank" rel="noopener noreferrer">Chaoqi Liu</a><sup>1</sup>,</span>
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<span class="author-block"><a href="https://peilinwu.site/" target="_blank" rel="noopener noreferrer">Peilin Wu</a><sup>1</sup>,</span>
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<span class="author-block"><a href="https://haonan16.github.io/" target="_blank" rel="noopener noreferrer">Haonan Chen</a><sup>1,2</sup>,</span>
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<span class="author-block"><a href="https://yilundu.github.io/" target="_blank" rel="noopener noreferrer">Yilun Du</a><sup>1</sup></span>
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</div>
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<div class="publication-affiliations">
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<span class="author-block"><sup>1</sup> <img class="affiliation-icon" src="./static/images/harvard-icon.svg" alt="Harvard"> Harvard University</span>
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<span class="author-block"><sup>2</sup> <img class="affiliation-icon" src="./static/images/stanford-icon.svg" alt="Stanford"> Stanford University</span>
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<span class="author-block"><sup>3</sup> <img class="affiliation-icon" src="./static/images/tsinghua-icon.svg" alt="Tsinghua"> Tsinghua University</span>
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</div>
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</div>
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<div class="publication-authors">
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<span class="author-block"><a href="https://gao-jiawei.com/" target="_blank" rel="noopener noreferrer">Jiawei Gao</a><sup>1,3</sup>,</span>
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<span class="author-block"><a href="https://chaoqi-liu.com/" target="_blank" rel="noopener noreferrer">Chaoqi Liu</a><sup>1</sup>,</span>
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<span class="author-block"><a href="https://peilinwu.site/" target="_blank" rel="noopener noreferrer">Peilin Wu</a><sup>1</sup>,</span>
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<span class="author-block"><a href="https://haonan16.github.io/" target="_blank" rel="noopener noreferrer">Haonan Chen</a><sup>1,2</sup>,</span>
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<span class="author-block"><a href="https://yilundu.github.io/" target="_blank" rel="noopener noreferrer">Yilun Du</a><sup>1</sup></span>
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</div>
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</div>
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</div>
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</div>
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</section>
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<footer class="footer">
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<div class="container">
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<div class="columns is-centered">
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<div class="column is-8">
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<div class="content">
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<p>
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Website template modified from <a href="https://gao-jiawei.com/CooHOI/">CooHOI</a> and <a href="https://nerfies.github.io/">NeRFies</a>.
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</p>
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<p>
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This website is licensed under a <a rel="license"
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href="http://creativecommons.org/licenses/by-sa/4.0/">Creative
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Commons Attribution-ShareAlike 4.0 International License</a>.
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This means you are free to borrow and modify the <a
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href="http://gao-jiawei.com/IMPACT/">source
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code</a> of this website as long as
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you link back to the <a href="http://gao-jiawei.com/IMPACT/">IMPACT</a> page in the footer.
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</p>
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<div class="publication-affiliations">
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<span class="author-block"><sup>1</sup> <img class="affiliation-icon" src="./static/images/harvard-icon.svg" alt="Harvard"> Harvard University</span>
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<span class="author-block"><sup>2</sup> <img class="affiliation-icon" src="./static/images/stanford-icon.svg" alt="Stanford"> Stanford University</span>
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<span class="author-block"><sup>3</sup> <img class="affiliation-icon" src="./static/images/tsinghua-icon.svg" alt="Tsinghua"> Tsinghua University</span>
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</div>
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</div>
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</div>
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</div>
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</footer>
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</section>
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<section class="grid reveal">
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<article class="info-card">
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<h3>What Is New</h3>
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<p>IMPACT learns internal-model predictive control policies tailored for high-force, contact-rich manipulation.</p>
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</article>
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<article class="info-card">
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<h3>Why It Matters</h3>
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<p>Forceful tasks are common in real robotics but hard to solve with purely reactive control and imitation pipelines.</p>
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</article>
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<article class="info-card">
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<h3>Current Status</h3>
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<p>Project page is live with teaser video and paper/video links. Code release is being prepared.</p>
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</article>
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</section>
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</main>
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<footer class="shell footer">
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<p>Website template adapted from <a href="https://gao-jiawei.com/CooHOI/" target="_blank" rel="noopener noreferrer">CooHOI</a> and <a href="https://nerfies.github.io/" target="_blank" rel="noopener noreferrer">NeRFies</a>.</p>
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</footer>
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</body>
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</html>

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