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Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

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Yi-Cheng Wang

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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. · 0 citations

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