Cover Image

ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Li, Yang, Zhaxizhuoma, Jiang, Hongru, Xia, Junjie, Zhang, Hongquan, Du, Jinda, Zhou, Yunsong, Zeng, Jia, Hao, Ce, Ren, Jieji, Yu, Qiaojun, Lu, Cewu, Qiao, Yu, Pang, Jiangmiao
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation
by: Yu, Jiawen, et al.
Published: (2025)

ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
by: Liu, Wenhai, et al.
Published: (2024)

Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
by: Fang, Hongjie, et al.
Published: (2026)

FoAR: Force-Aware Reactive Policy for Contact-Rich Robotic Manipulation
by: He, Zihao, et al.
Published: (2024)

ManipForce: Force-Guided Policy Learning with Frequency-Aware Representation for Contact-Rich Manipulation
by: Lee, Geonhyup, et al.
Published: (2025)

Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA
by: Tang, Tutian, et al.
Published: (2026)

FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulation
by: Zhao, Ruiteng, et al.
Published: (2026)

FAVLA: A Force-Adaptive Fast-Slow VLA model for Contact-Rich Robotic Manipulation
by: Li, Yao, et al.
Published: (2026)

SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse
by: Zhai, Xuanran, et al.
Published: (2026)

CRAFT: Adapting VLA Models to Contact-rich Manipulation via Force-aware Curriculum Fine-tuning
by: Zhang, Yike, et al.
Published: (2026)

PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation
by: Wang, Mingxin, et al.
Published: (2026)

Manipulation via Force Distribution at Contact
by: Lee, Haegu, et al.
Published: (2026)

FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty
by: Noseworthy, Michael, et al.
Published: (2024)

ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
by: Zhu, Jinxuan, et al.
Published: (2025)

Dynamic Reconstruction of Hand-Object Interaction with Distributed Force-aware Contact Representation
by: Yu, Zhenjun, et al.
Published: (2024)

TaF-VLA: Tactile-Force Alignment in Vision-Language-Action Models for Force-aware Manipulation
by: Huang, Yuzhe, et al.
Published: (2026)

Direction Matters: Learning Force Direction Enables Sim-to-Real Contact-Rich Manipulation
by: Yang, Yifei, et al.
Published: (2026)

Just Add Force for Contact-Rich Robot Policies
by: Xie, William, et al.
Published: (2024)

Multimodal Diffusion Forcing for Forceful Manipulation
by: Huang, Zixuan, et al.
Published: (2025)

Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
by: Xue, Han, et al.
Published: (2025)

Force Aware Branch Manipulation To Assist Agricultural Tasks
by: Rijal, Madhav, et al.
Published: (2025)

ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching
by: Zhang, Shuoheng, et al.
Published: (2026)

MILE: A Mechanically Isomorphic Exoskeleton Data Collection System with Fingertip Visuotactile Sensing for Dexterous Manipulation
by: Du, Jinda, et al.
Published: (2025)

Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation
by: Guo, Xiaofeng, et al.
Published: (2024)

CoFreeVLA: Collision-Free Dual-Arm Manipulation via Vision-Language-Action Model and Risk Estimation
by: Zhai, Xuanran, et al.
Published: (2026)

The Variation Law of the Contact Force Between Corn Kernels Under External Force Action
by: Xinping Li, et al.
Published: (2026)

Master Micro Residual Correction with Adaptive Tactile Fusion and Force-Mixed Control for Contact-Rich Manipulation
by: Li, Xingting, et al.
Published: (2026)

DexForce: Extracting Force-informed Actions from Kinesthetic Demonstrations for Dexterous Manipulation
by: Chen, Claire, et al.
Published: (2025)

FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning
by: Liu, Jason Jingzhou, et al.
Published: (2025)

Contact Forces in Microgel Suspensions
by: Vrban, Fran Ivan, et al.
Published: (2025)

FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks
by: Ge, Haizhou, et al.
Published: (2025)

SKT: Integrating State-Aware Keypoint Trajectories with Vision-Language Models for Robotic Garment Manipulation
by: Li, Xin, et al.
Published: (2024)

Learning Adaptive Force Control for Contact-Rich Sample Scraping with Heterogeneous Materials
by: Cetin, Cenk, et al.
Published: (2026)

TactileReflex: Noise-Statistics-Driven Vision-Tactile Reflex Control for Force-Sensitive Manipulation
by: Feng, Ziyan, et al.
Published: (2026)

Multi-Contact Whole-Body Force Control for Position-Controlled Robots
by: Rouxel, Quentin, et al.
Published: (2023)

A Precise Real-Time Force-Aware Grasping System for Robust Aerial Manipulation
by: Hoi, Kenghou, et al.
Published: (2026)

GAMMA: Generalizable Articulation Modeling and Manipulation for Articulated Objects
by: Yu, Qiaojun, et al.
Published: (2023)

Hierarchically‐Interlocked, Three‐Axis soft Iontronic Sensor for Omnidirectional Shear and Normal Forces
by: Zequn Shen, et al.
Published: (2024)

DisCo: Distributed Contact-Rich Trajectory Optimization for Forceful Multi-Robot Collaboration
by: Shorinwa, Ola, et al.
Published: (2024)

TAMEn: Tactile-Aware Manipulation Engine for Closed-Loop Data Collection in Contact-Rich Tasks
by: Wu, Longyan, et al.
Published: (2026)