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simmediummanipulation-datametric · varies
CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation
Description
We propose a CompliantVLA-adaptor that augments the state-of-the-art Vision-Language-Action (VLA) models with vision-language model (VLM)-informed context-aware variable impedance control (VIC) to improve the safety and effectiveness of contact-rich robotic manipulation tasks. Existing VLA systems (e.g., RDT, Pi0.5, OpenVLA-oft) typically output position, but lack force-aware adaptation, leading to unsafe or failed interactions in physical tasks involving contact, compliance, or uncertainty. In