ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks

arXiv:2609.23800 · cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.RO

Submitted: 2026-09-20

Updated: 2026-09-20

Terminology

• Alignment — 19× in this paper · explained in 1 episode
• Generalization — 12× in this paper · explained in 13 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Diffusion Process — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Exponential Moving Average (EMA) — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Latent Representation — 1× in this paper · explained in 2 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation
• Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
• VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
• OmniVTLA: Vision-Tactile-Language-Action Models with Semantic-Aligned Tactile Sensing

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