FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation
The FWBC-VLA is proposed, a force-aware framework that bridges task-level VLA action generation and low-level whole-body compensation control for wheeled-legged robots and demonstrates the effectiveness of the FWBC-VLA in contact-rich loco-manipulation.
Yu-Tian Zhang, Si-Yuan Ma, Li-Wen Yang et al.
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