TORL-VLA
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Related Articles from SNS
TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation
arXiv:2606.09337v1 Announce Type: new Abstract: Vision-Language-Action (VLA) models have become a powerful framework for robotic manipulation, and recent studies have introduced tactile or force feedback into VLAs to address contact-rich tasks. However, these models are typically deployed as offline policies. When contact conditions shift from the training distribution, the policy cannot perform online adaptation, leading to problems such as inappropriate contact forces and inefficient retries.