Author

Jaehwi Jang

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Preprint Sep 2026

Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation

Humanoid robots are expected to perform diverse human-level tasks in daily environments, many of which require precise regulation of interaction forces. While recent vision-language-action (VLA) models have shown promise for semantic planning and visuomotor control, existing humanoid systems primarily represent actions...

Fu-Kang Liu, Yipu Chen, Jaehwi Jang et al. · 0 citations