نسخة أولية وصول مفتوح
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 …