CLAP: Closed-Loop Alignment with Pressure for Precise Suction Manipulation

arXiv:2609.32767 · cs.RO · Submitted 2026-09-26 · Read on arXiv

cs.RO

Submitted: 2026-09-26

Updated: 2026-09-26

Terminology

• Alignment — 14× in this paper · explained in 1 episode
• Ablation — 7× in this paper · explained in 1 episode
• Accuracy — 4× in this paper · explained in 1 episode
• Benchmark — 3× in this paper · explained in 2 episodes
• Failure Modes — 3× in this paper · explained in 3 episodes
• Transformer — 2× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• VacuumVLA: Boosting VLA Capabilities via a Unified Suction and Gripping Tool for Complex Robotic Manipulation
• Gemini Robotics: Bringing AI into the Physical World
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• 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
• Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation
• Initial Analysis of Data-Driven Haptic Search for the Smart Suction Cup
• Reverse to Advance: Teleoperation-Cost Effective Hard Policy Learning from Reversed Easy Tasks
• Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space

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