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FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

Contact-rich loco-manipulation requires a bridge between semantic action generation and physical interaction control. Existing Vision-language-action (VLA) models generate task-level actions from visual and linguistic observations, but cannot interpret the physical interactions induced by those actions. While the whole-body control (WBC) policy can stabilize the robot, it cannot distinguish task-relevant interaction forces from forces induced by external disturbances during manipulation. Although force/torque sensors provide direct measurements of physical interactions, retrofitting them entai

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