SOURCE-LINKED INTELLIGENCE
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 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 profil
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-20T13:03:53.000Z
First collected: 2026-09-23T09:51:33.063Z. This is not the publication date.