20.500.12556/DiRROS-28477 A survey on imitation learning for contact-rich tasks in robotics This paper comprehensively surveys research trends in imitation learning (IL) for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to their nonlinear dynamics and sensitivity to small positional deviations. The paper examines demonstration collection methodologies, including teaching methods and sensory modalities crucial for capturing subtle interaction dynamics. We then analyze IL approaches, highlighting their applications to contact-rich manipulation. Recent advances in multimodal learning and foundation models have significantly enhanced performance in complex contact tasks across industrial, household, and healthcare domains. Through systematic organization of current research and identification of challenges, this survey provides a foundation for future advancements in contact-rich robotic manipulation. imitation learning contact-rich robotic tasks reinforcement learning impedance control učenje posnemanja fizična interakcija robotov z okoljem true false true Sage Publications Združeno kraljestvo Angleški jezik Slovenski jezik © The Author(s) 2026 Neznano 2026-03-20 14:42:44 2026-03-20 14:42:45 2026-03-26 03:52:14 0000-00-00 00:00:00 2026 0 0 Nasl. z nasl. zaslona; Soavtor iz Slovenije: Tadej Petrič; Opis vira z dne 20. 3. 2026; str. 1-36 iss. Vol. 45 2026 0000-00-00 Zaloznikova Objavljeno NiDoloceno 2025-06-11 2025-12-27 2026-03-14 007.52 1741-3176 10.1177/02783649261417694 272456707 https://journals.sagepub.com/doi/10.1177/02783649261417694 1 ae6917ff-2462-11f1-b469-001a4af901a5 https://dirros.openscience.si/Dokument.php?lang=slv&id=42198 RAZ_Tsuji_Toshiaki_2026.pdf RAZ_Tsuji_Toshiaki_2026.pdf 1 6ECAB34689B020CD5AC3A9EDC6880C9D 7661b8d90a57eb5560b15548bb5885e068c0260dd80cac46ce6a79bbc400d34d e9bcbaaf-2462-11f1-b469-001a4af901a5 https://dirros.openscience.si/Dokument.php?lang=slv&id=42199 Institut Jožef Stefan 0 0 0