CableVLA: Simulation-Privileged Global-Local Representation Learning for Cable Routing

arXiv:2609.25606 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Code: https://github.com/Physical-Intelligence/openpi

Terminology

• Adaptation — 15× in this paper · explained in 1 episode
• Distillation — 15× in this paper · explained in 2 episodes
• Representation Learning — 7× in this paper · explained in 2 episodes
• Transformer — 6× in this paper · explained in 2 episodes
• Alignment — 4× in this paper · explained in 1 episode
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Calibration — 3× in this paper · explained in 7 episodes
• Core — 3× in this paper · explained in 2 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Motion Primitives — 3× in this paper · explained in 2 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Aggregation — 2× in this paper · explained in 1 episode
• LoRA Adaptation — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 3 episodes
• Closed-Loop Control — 1× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 7 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Low-Rank Adaptation (LoRA) — 1× in this paper · explained in 9 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• SILO: Simulation-in-the-Loop Sim-to-Real Transfer for Multi-Stage Cable Routing
• WireCraft: A Simulation Benchmark for Industrial DLO Manipulation
• TaF-VLA: Tactile-Force Alignment in Vision-Language-Action Models for Force-aware Manipulation
• ReTouch: Empowering Contact-Rich Dexterous Manipulation with Online-Refined Tactile Prediction
• Tactile Genesis: Exploring Tactile Sensors at Scale for Learning Dexterous Tasks
• SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics

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