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agent programming 1contact-rich manipulation 1force feedback 1knowledge bases 1multimodal learning 1online acquisition 1online learning 1post-training 1skill distillation 1vision-language-action 1

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cs.RO2026

Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection

Yi Wang, Wendi Chen, Zimo Wen +8

The paper introduces LIFT, a post‑training method that adds reactive force feedback to pretrained vision‑language‑action policies, enabling them to handle contact‑rich manipulation…