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.
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