What is the Better Curriculum: Controller-Shaped Grasping Behavior for Contact Force-Sensitive Manipulation

arXiv:2609.25887 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Project page: https://shayfeng.github.io/better-curriculum

Terminology

• Arbiter — 48× in this paper · explained in 1 episode
• Robustness — 12× in this paper · explained in 5 episodes
• Ablation — 9× in this paper · explained in 1 episode
• Calibration — 5× in this paper · explained in 7 episodes
• Decoupling — 4× in this paper · explained in 2 episodes
• Failure Taxonomy — 4× in this paper · explained in 2 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Action Chunking — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Trace — 3× in this paper · explained in 2 episodes
• Distillation — 2× in this paper · explained in 2 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Base of Red Bird MPhil — 1× in this paper
• Benchmark — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Low-Rank Adaptation (LoRA) — 1× in this paper · explained in 9 episodes
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• On Action Chunking with Transformers — 1× in this paper
• Provenance — 1× in this paper · explained in 4 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• TactileReflex: Noise-Statistics-Driven Vision-Tactile Reflex Control for Force-Sensitive Manipulation
• Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms
• VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
• Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
• OmniVTLA: Vision-Tactile-Language-Action Models with Semantic-Aligned Tactile Sensing
• Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
• TaF-VLA: Tactile-Force Alignment in Vision-Language-Action Models for Force-aware Manipulation
• TacVLA: Contact-Aware Tactile Fusion for Robust Vision-Language-Action Manipulation
• HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing
• ImplicitRDP: An End-to-End Visual-Force Diffusion Policy with Structural Slow-Fast Learning
• CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation
• VLSA: Vision-Language-Action Models with Plug-and-Play Safety Constraint Layer
• Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation
• LeRobot: An Open-Source Library for End-to-End Robot Learning

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