Our 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.