Chen-Guang Yang

CC-VLA: Learning Control-Aware Compliance VLA Model for Robust Contact-Rich Robotic Manipulation

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 ad...