Hojung Choi Yifan Hou Chuer Pan Seongheon Hong Austin Patel Xiaomeng Xu Mark R. Cutkosky Shuran Song In-the-Wild Compliant Manipulation with UMI-FT. 2026 January abs/2601.09988 CoRR https://doi.org/10.48550/arXiv.2601.09988 db/journals/corr/corr2601.html#abs-2601-09988 streams/journals/corr