FWBC-VLA: תגבור-כוח עבור שיקול-גוף מלא להתאמה-קשר למאניפולציה-מגע

תקציר מקורי באנגליתarXiv:2609.03889v2 Announce Type: replace-cross Abstract: Contact-rich loco-manipulation requires a bridge between semantic action generation and physical interaction control. Existing Vision-language-action (VLA) models generate task-level actions from visual and linguistic observations, but cannot interpret the physical interactions induced by those actions. While the whole-body control (WBC) policy can stabilize the robot, it cannot distinguish task-relevant interaction forces from forces induced by external disturbances during manipulation. Although force/torque sensors provide direct measurements of physical interactions, retrofitting them entails additional hardware costs and substantial integration effort, particularly for platforms not designed with sensor integration in mind. To a