Preprint
Sep 2026
ForceRFT: Refining VLA Actions through Force-Guided Residual Reinforcement Learning
Force-conditioned vision-language-action (VLA) policies can respond to contact, but when trained solely on demonstrations, their recovery behavior may be limited by demonstration coverage, and they do not learn from deployment outcomes. Human corrective imitation provides additional recovery examples, but its objective...
Yi-Cheng Wang, Chao-Yang Zhang, Xu-Qi Su et al.
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