Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulation

arXiv:2609.23968 · cs.RO · Submitted 2026-09-21 · Read on arXiv

cs.RO

Submitted: 2026-09-21

Updated: 2026-09-21

Project page: https://opt2vla.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 11× in this paper · explained in 1 episode
• Actor — 9× in this paper · explained in 3 episodes
• Reinforcement Learning — 6× in this paper · explained in 4 episodes
• Fine-Tuning — 5× in this paper · explained in 5 episodes
• Aggregation — 4× in this paper · explained in 1 episode
• Sim-to-Real Transfer — 4× in this paper · explained in 2 episodes
• VLA Models — 4× in this paper · explained in 3 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Mean Absolute Error — 2× in this paper
• Abstraction — 1× in this paper · explained in 1 episode
• Action Decoder — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Fidelity — 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
• Grounding — 1× in this paper · explained in 3 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Hysteresis — 1× in this paper · explained in 3 episodes
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• OpenVLA: An Open-Source Vision-Language-Action Model
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\pi^{*}_{0.6}$: a VLA That Learns From Experience
• Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration
• Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills
• WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control
• ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation
• TA-VLA: Elucidating the Design Space of Torque-aware Vision-Language-Action Models
• FWBC-VLA: Force-Aware Whole-Body Compensation for Contact-Rich Loco-Manipulation
• Expressive Whole-Body Control for Humanoid Robots
• SoftMimic: Learning Compliant Whole-body Control from Examples
• Walk the PLANC: Physics-Guided RL for Agile Humanoid Locomotion on Constrained Footholds
• Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation
• Chasing Stability: Humanoid Running via Control Lyapunov Function Guided Reinforcement Learning
• LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
• Asymmetric Actor Critic for Image-Based Robot Learning

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