← 研踪 PaperTrailarXiv:2609.23614 · v2
CompVLA: A Variable Compliance Vision-Language-Action Model for Contact-rich Manipulation
首次提交 2026-09-20 21:03
版本更新 2026-11-06 10:47
雷达观测 2026-11-09 10:16
摘要
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 introduce CompVLA, a unified VLA framework that jointly predicts motion and a stiffness matrix from RGB and language inputs. Our approach augments the conventional architecture with a dedicated Compliance Expert, which outputs time-varying stiffness and virtual displacement profiles executed via geometric impedance control. We demonstrate that CompVLA achieves the highest average success rate across diverse contact-rich tasks, outperforming both vanilla and compliance-aware VLA baselines, with ablations confirming each component is essential.
作者备注：Conference on Robot Learning (CoRL) 2026
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v2 · 2026-11-06 10:47 · 最新观测版本
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 introduce CompVLA, a unified VLA framework that jointly predicts motion and a stiffness matrix from RGB and language inputs. Our approach augments the conventional architecture with a dedicated Compliance Expert, which outputs time-varying stiffness and virtual displacement profiles executed via geometric impedance control. We demonstrate that CompVLA achieves the highest average success rate across diverse contact-rich tasks, outperforming both vanilla and compliance-aware VLA baselines, with ablations confirming each component is essential.
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