Preprint
Sep 2026
ForceDelta-VLA: Distilling Force-Conditioned Action Corrections for Contact-Rich Manipulation
ForceDelta-VLA is presented, a correction-distillation framework that constructs an explicit force-correction target using paired predictions from a frozen teacher's force-conditioned and learned force-agnostic modes, and reduces mean peak contact force over successful trials by approximately 26% on both platforms.
Ju Dong, Yuan-You Fu, Jian Chen et al.
· 1 citation