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CR-VLA-Force: Learning Control-aware Compliance VLA Model for Robust Contact-rich Robotic Manipulation

arXiv · AI, language, vision and robotics · article · Sep 5, 2026 · UTC

Integrating visuomotor policies or Vision-Language-Action (VLA) models with force/torque (F/T) perception has demonstrated significant progress in imitation learning for robotic manipulation. However, existing force-aware VLA models frequently exhibit limited capability in precise force tracking and rapid successive adjustments. This deficiency stems from the limitations of action-chunk execution strategies and the substantial latency between perception and real-time control. Such limitations can lead to task failures and safety risks, particularly when the execution of an action chunk exerts

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