Preprint
Sep 2026
ForceDelta-VLA: Distilling Force-Conditioned ActionCorrections for Contact-Rich Manipulation
Force-aware Vision-Language-Action (VLA) policies improve contact-rich manipulation, but typically combine task-level motion and contact-dependent adjustment in a single action prediction. Demonstrations provide no explicit labels for decomposing that prediction into a reusable reference action and a correction. We pre...
Ju Dong, Yuan-You Fu, Jian Chen et al.
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