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Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Humanoid robots are expected to perform diverse human-level tasks in daily environments, many of which require precise regulation of interaction forces. While recent vision-language-action (VLA) models have shown promise for semantic planning and visuomotor control, existing humanoid systems primarily represent actions through geometric motion goals and rely on whole-body controllers focused on motion tracking, with limited explicit reasoning or control of interaction forces. This limitation is particularly relevant in contact-rich tasks, where geometrically similar motions may require differe

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