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

arXiv:2609.03889 · cs.RO, cs.AI · Submitted 2026-09-03 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-03

Updated: 2026-09-04

Terminology

• AUC — 9× in this paper · explained in 2 episodes
• Ablation — 8× in this paper · explained in 1 episode
• Accuracy — 3× in this paper · explained in 1 episode
• Action Decoder — 3× in this paper · explained in 1 episode
• Generalization — 3× in this paper · explained in 13 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• VLA Models — 2× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 2× in this paper · explained in 2 episodes
• Action Chunking — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Existing Vision-language-action — 1× in this paper
• Foundation Models — 1× in this paper · explained in 7 episodes
• International Conference on Advanced Intelligent Mechatronics — 1× in this paper
• Online Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Task Planning — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• QUAR-VLA: Vision-Language-Action Model for Quadruped Robots
• TLA: Tactile-Language-Action Model for Contact-Rich Manipulation
• Efficient Learning of A Unified Policy For Whole-body Manipulation and Locomotion Skills
• OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation
• Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
• Loss Function Considering Dead Zone for Neural Networks
• WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control
• ForceVLA2: Unleashing Hybrid Force-Position Control with Force Awareness for Contact-Rich Manipulation
• IMPACT: Intelligent Motion Planning with Acceptable Contact Trajectories via Vision-Language Models
• FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning
• Learning Force Control for Legged Manipulation
• Fine Robotic Manipulation without Force/Torque Sensor
• Minimalist Compliance Control
• StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developing
• SG-VLA: Learning Spatially-Grounded Vision-Language-Action Models for Mobile Manipulation
• ODYSSEY: Open-World Quadrupeds Exploration and Manipulation for Long-Horizon Tasks
• MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulation

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