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cs.RO2026
CR-VLA-Force: Learning Control-aware Compliance VLA Model for Robust Contact-rich Robotic Manipulation
Zhaohong Mai, Chao Wang, Chao Zeng +4
Integrating visuomotor policies or Vision-Language-Action (VLA) models with force/torque (F/T) perception has demonstrated significant progress in imitation learning for robotic ma…
cs.RO2026
HiL-ResRL: A Model-Agnostic Finetuning Adapter via Human-in-the-loop Residual Reinforcement Learning
Jingyi Liu, Zhaohong Mai, ShunSen He +5
Recent advancements in generative imitation learning have significantly propelled the field of robotic manipulation. However, the majority of existing models rely heavily on Behavi…