Author

Jian-Long Fu

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Preprint Sep 2026

CompVLA: A Variable Compliance Vision-Language-Action Model for Contact-rich Manipulation

Contact-rich manipulation, requiring robots to regulate not only motion but also how they yield to external forces, has emerged as the next frontier for Vision-Language-Action (VLA) models. However, existing VLAs output purely kinematic commands, degrading performance on real-world contact-rich tasks. In this paper, we...

Jongmin Kim, Junsu Ha, Che-Sang Park et al. · 0 citations

Jul 2026

RetroHolmes: When Semantic Plausibility Fails Retrospective Physical Process Reasoning

Humans can infer hidden physical processes from sparse observations, yet current evaluation protocols for Vision Language Models fail to assess whether such physical reasoning is genuinely captured. To address this gap, we introduce Retrospective Physical Process Reasoning, a new evaluation paradigm to reason backward...

Ruoxuan Zhang, Qiyun Zheng, Siyu Wu et al. · arXiv.org · 0 citations