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Code is currently available at anonymous GitHub ↑, will be at GitHub after review.
Challenge:
Challenge:
Existing VLA systems lack force-awareness, leading to unsafe interactions in physical tasks involving contact or uncertainty. We see this challenge as a promising direction for safer deployment of VLA systems.
Existing VLA systems lack force-awareness, leading to unsafe interactions in physical tasks involving contact or uncertainty. We see this challenge as a promising direction for safer deployment of VLA systems.
We present CompliantVLA-adaptor:
We present CompliantVLA-adaptor:
a timely, effective, plug-and-play, and training-free solution
a timely, effective, plug-and-play, and training-free solution
compliantVLA_all.mp4Our method：
Overview of the CompliantVLA-adaptor. A VLM processes visual \textit{observations}, language instructions, and real-time force feedback~$\mathcal {F}$ to generate context-aware impedance parameters~$\mathcal{K, D}$. These parameters modulate a variable impedance controller(VIC) that executes actions generated by a VLA model, ensuring safe and adaptive contact-rich manipulation.
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