用扩散模型学习机器人接触任务的阻抗参数，实现精准自适应控制。

Learning-based methods excel at robot motion generation but remain limited in contact-rich physical interaction. Impedance control provides stable and safe contact behavior but requires task-specific tuning of stiffness and damping parameters. We present Diffusion-Based Impedance Learning, a framework that bridges these paradigms by combining generative modeling with energy-consistent impedance control. A Transformer-based Diffusion Model, conditioned via cross-attention on measured external wrenches, reconstructs simulated Zero-Force Trajectories (sZFTs) that represent contact-consistent equilibrium behavior. A SLERP-based quaternion noise scheduler preserves geometric consistency for rotations on the unit sphere. The reconstructed sZFT is used by an energy-based estimator to adapt impedance online through directional stiffness and damping modulation. Trained on parkour and robot-assisted therapy demonstrations collected via Apple Vision Pro teleoperation, the model achieves sub-millimeter positional and sub-degree rotational accuracy using only tens of thousands of samples. Deployed in real-time torque control on a KUKA LBR iiwa, the approach enables smooth obstacle traversal and generalizes to unseen tasks, achieving 100% success in multi-geometry peg-in-hole insertion. The code for all experiments is publicly available on GitHub and videos of the experiments are available on the project website.