Paper Citation Record · LEDGER

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators

As of 22 August 2026, this Paper Citation Record lists 37 of 37 outbound references and 0 inbound Pith citation observations for arXiv:2504.17080.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2504.17080 v3

Coverage vector

measured 37 of 37 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-16T10:58:35.188650Z

measured 37 of 37 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-21T06:32:19.484+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

37 of 37 outbound references displayed

verified exact1
verified fuzzy24
unresolved12
parse uncertain0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation d2dc1339-2d87-4af4-9d71-55ef9aee78f9 · outbound

This paper cites Impedance control: An approach to manipulation: Part ii—implementation,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Impedance control: An approach to manipulation: Part ii—implementation,

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:34.289598Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 83f1b036-3635-441e-b8d5-6ada96125067 · outbound

This paper cites A unified approach for motion and force control of robot manipulators: The operational space formulation,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators A unified approach for motion and force control of robot manipulators: The operational space formulation,

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:34.296951Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e7b33fd1-2b59-45f4-a340-6bab76204a80 · outbound

This paper cites Learning variable impedance control for contact sensitive tasks,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Learning variable impedance control for contact sensitive tasks,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.694782Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 6608c042-f08b-436d-b96f-99b70c28dff7 · outbound

This paper cites Behavior transformers: Cloning k modes with one stone,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Behavior transformers: Cloning k modes with one stone,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.681573Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 652f3e56-2224-4750-99a2-bc42bdca6f55 · outbound

This paper cites Diffusion policy: Visuomotor policy learning via action diffusion,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Diffusion policy: Visuomotor policy learning via action diffusion,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.667200Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 52727aad-b530-4593-a0c2-538222c2654c · outbound

This paper cites Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:34.316363Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fb70e8c2-efe9-4618-84ce-bec848ef627b · outbound

This paper cites Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:34.321981Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 09a13562-56d5-48d9-b54b-5a37b92d9936 · outbound

This paper cites Learning variable compliance control from a few demonstrations for bimanual robot with haptic feedback teleoperation system,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Learning variable compliance control from a few demonstrations for bimanual robot with haptic feedback teleoperation system,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.652481Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 8e746cd8-fd6f-4d8f-b6ba-887e2f5906c2 · outbound

This paper cites TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:34.331176Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1e9cd3c5-aed1-4ab0-b0a8-1c5157c94ed6 · outbound

This paper cites A survey of robot manipulation in contact,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators A survey of robot manipulation in contact,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.584167Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation b15960ff-4dbc-47b9-9816-829df0546947 · outbound

This paper cites Stability considerations for variable impedance control,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Stability considerations for variable impedance control,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.518627Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 45bdf5a4-108b-47a5-b557-b8eae609c8c6 · outbound

This paper cites Passive velocity field control of mechanical manipulators,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Passive velocity field control of mechanical manipulators,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.368107Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 7876fe90-59f8-45d1-8e2f-186e45eaea95 · outbound

This paper cites Passive velocity field control of (pvfc), part i. geometry and robustness,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Passive velocity field control of (pvfc), part i. geometry and robustness,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.305205Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation fabf21e2-c3f1-4333-a3df-9c8109c73988 · outbound

This paper cites Passive velocity field control of (pvfc), part ii. application to contour following,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Passive velocity field control of (pvfc), part ii. application to contour following,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.290577Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation b90f470a-2641-4cc8-bc27-f6f51d0b9661 · outbound

This paper cites Control of smart exercise machines. i. problem formulation and nonadaptive control,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Control of smart exercise machines. i. problem formulation and nonadaptive control,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.275784Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation d00f7a97-3e5e-473a-9923-a756cb0a1666 · outbound

This paper cites Control of smart exercise machines. ii. self-optimizing control,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Control of smart exercise machines. ii. self-optimizing control,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.262004Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 33694781-d19e-4337-b84e-c91496c3125b · outbound

This paper cites An energy tank-based interactive control ar- chitecture for autonomous and teleoperated robotic surgery,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators An energy tank-based interactive control ar- chitecture for autonomous and teleoperated robotic surgery,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.247448Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 1880d8ce-1abc-42be-8d71-7687463524a0 · outbound

This paper cites Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Energy tank-based wrench/impedance control of a fully-actuated hexarotor: A geometric port-hamiltonian approach,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.036353Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 7848fd82-d89b-4d46-ba21-3e993ed6cc72 · outbound

This paper cites Passivity-based variable impedance control for redundant manipulators,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Passivity-based variable impedance control for redundant manipulators,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:36.021363Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 563bb13a-8742-4af2-9d21-4715304484d9 · outbound

This paper cites Unified force-impedance control,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Unified force-impedance control,

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:34.665189Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8a8c96f5-40d5-4725-a380-b5a28d06d786 · outbound

This paper cites Geometric impedance control on SE(3) for robotic manipulators,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Geometric impedance control on SE(3) for robotic manipulators,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.996808Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 55225129-a4e4-4436-b64d-698f4bb9056f · outbound

This paper cites A Comparison Between Lie Group- and Lie Algebra- Based Potential Functions for Geometric Impedance Control.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators A Comparison Between Lie Group- and Lie Algebra- Based Potential Functions for Geometric Impedance Control

Reference 22

Resolution: verified exact; local_arxiv, observed 2026-08-16T10:58:35.276751Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation c3090652-0196-48ae-8f60-bd961de74874 · outbound

This paper cites Contact-rich SE(3)-equivariant robot manipulation task learn- ing via geometric impedance control,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Contact-rich SE(3)-equivariant robot manipulation task learn- ing via geometric impedance control,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.982700Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 4083cea1-ad4b-4662-b494-23dc86403655 · outbound

This paper cites Equivariant descriptor fields: SE(3)-equivariant energy- based models for end-to-end visual robotic manipulation learning,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Equivariant descriptor fields: SE(3)-equivariant energy- based models for end-to-end visual robotic manipulation learning,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.942028Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 4f5f4cdd-6969-45c7-83a0-ea32621d9c42 · outbound

This paper cites Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:34.914338Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 59c78665-0aa9-47ad-8c4b-ed2a38e8b5f6 · outbound

This paper cites Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3D

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:35.008622Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b301e3a5-f098-4707-a9c2-ba51c19d6611 · outbound

This paper cites SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:35.138338Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5c4b9ae0-6cc1-49b8-8ec5-f2b1c2416aa8 · outbound

This paper cites an unresolved cited work.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Unresolved cited work

Reference 28

Resolution: unresolved; raw_fallback, observed 2026-08-16T10:58:35.731057Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 6b8c5a3b-5534-4703-bf0a-3b945674178c · outbound

This paper cites an unresolved cited work.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Unresolved cited work

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:35.148902Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9d1b876e-1b4b-4207-b5bd-9c123689ca32 · outbound

This paper cites A tank-based approach to impedance control with variable stiffness,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators A tank-based approach to impedance control with variable stiffness,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.625658Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation e51dca7e-964e-407f-b58e-7511cfa87a70 · outbound

This paper cites Force tracking impedance control with variable target stiffness,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Force tracking impedance control with variable target stiffness,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.612617Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 82c3977a-b4a3-4b7e-b421-6d2e120292b5 · outbound

This paper cites Tracking for fully actuated mechanical systems: a geometric framework,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Tracking for fully actuated mechanical systems: a geometric framework,

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-16T10:58:35.164888Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 338be490-f8cb-4f07-b62b-fd625a589784 · outbound

This paper cites Deep geometric potential functions for tracking on manifolds,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Deep geometric potential functions for tracking on manifolds,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.588678Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 70fb2ac3-147b-446d-9559-4e1c0b478903 · outbound

This paper cites Variable impedance control using deep geometric potential fields,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Variable impedance control using deep geometric potential fields,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.573188Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 93aab164-4361-444c-a8c8-4ed5895f12aa · outbound

This paper cites Geometric tracking control of a quadrotor uav on se (3),.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Geometric tracking control of a quadrotor uav on se (3),

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.557755Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 2b8f27bd-29a6-4b8a-8851-6bf0da523ae5 · outbound

This paper cites Mujoco: A physics engine for model-based control,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Mujoco: A physics engine for model-based control,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.543594Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation f173cdf9-046e-413c-81a8-6c6ffbb8cebf · outbound

This paper cites A two-step method for dynamic parameter iden- tification of indy7 collaborative robot manipulator,.

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators A two-step method for dynamic parameter iden- tification of indy7 collaborative robot manipulator,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T10:58:35.470341Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Pith citing papers

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