SOURCE-LINKED INTELLIGENCE

VisForce: Visual Grounding of Current and Desired Forces for Goal-Conditioned Dexterous Manipulation

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Vision-Language-Action (VLA) models have emerged as general-purpose robotic manipulation policies. However, in dexterous hand manipulation, contact forces are typically provided as separate states or force-specific representations, making it difficult to explicitly represent the spatial correspondence between force and their corresponding visual locations. In this work, we propose VisForce, which visually grounds the current and desired forces at their corresponding fingertip locations. VisForce renders current and desired visual force cues on the current wrist image and a task-specific goal i

Read original source ↗ Open in workspace

recordType

paper

region

Global