Author

Kang-Li Ding

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Preprint Oct 2026

DEFT-VLA: Stage-Localized Force Specialization for Contact-Rich Robotic Manipulation

DFT-VLA (Dual-Expert Force-specialized Training for Vision-Language-Action Manipulation) is proposed, which retains the task-adapted base expert for vision-dominated non-contact behavior and introduces a force-aware contact expert for critical contact stages, localizing force-conditioned adaptation to where it is neede...

Zan Huang, Yi-Bo Qiu, Kang-Li Ding et al. · 0 citations