PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation

arXiv:2606.00515 · cs.RO, cs.AI, cs.SY, eess.SY · Submitted 2026-05-30 · Read on arXiv

cs.RO, cs.AI, cs.SY, eess.SY

Submitted: 2026-05-30

Updated: 2026-09-18

Comments: 8 pages, 8 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

Trace — 9× in this paper · explained in 2 episodes
Alignment — 5× in this paper · explained in 1 episode
Benchmark — 3× in this paper · explained in 2 episodes
Generalization — 3× in this paper · explained in 13 episodes
Abstraction — 2× in this paper · explained in 1 episode
Consistency — 2× in this paper · explained in 3 episodes
Failure Modes — 2× in this paper · explained in 3 episodes
Foundation Model — 2× in this paper · explained in 3 episodes
Foundation Models — 2× in this paper · explained in 7 episodes
Grounding — 2× in this paper · explained in 3 episodes
Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
Ablation — 1× in this paper · explained in 1 episode
Admittance Control — 1× in this paper · explained in 1 episode
Affordance — 1× in this paper · explained in 1 episode
Calibration — 1× in this paper · explained in 7 episodes
Reinforcement Learning — 1× in this paper · explained in 4 episodes
Transformer — 1× in this paper · explained in 2 episodes
VLA Models — 1× in this paper · explained in 3 episodes
While Vision-Language-Action — 1× in this paper