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CableVLA: Simulation-Privileged Global-Local Representation Learning for Cable Routing

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

Cable routing requires coordinated control of global cable topology and changing local contacts. We present CableVLA, an end-to-end multimodal vision-language-action framework that converts simulation-privileged supervision into deployable cable-topology and tactile representations. TopoHead distills node-level physics and current and future cable-topology information into causal visual context for the action expert. TacSense uses complementary frame and taxel branches to learn contact dynamics from resistive arrays, with simulator-derived kinematics and contact events providing supervision be

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