Author

Qixiu Li

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Jul 2026

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation

FM-VLA is proposed, a VLA model with force-based memory, enabling temporal context reasoning for non-Markovian, contact-rich manipulation, and achieves over 80% success rate with minimal inference overhead, significantly outperforming baseline approaches.

Ruicheng Li, Qi-Xiu Li, Ruichun Ma et al. · arXiv.org · 1 citation