Contact-Aware Imitation Learning Through Contact Factorization

arXiv:2610.09533 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Project page: https://rcilab.khu.ac.kr/face

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

Terminology

• Adaptation — 13× in this paper · explained in 1 episode
• Generalization — 7× in this paper · explained in 13 episodes
• Failure Modes — 3× in this paper · explained in 3 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Decode — 2× in this paper · explained in 2 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Inference-Time Steering — 1× in this paper · explained in 2 episodes
• Multimodal Fusion — 1× in this paper · explained in 3 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• On Bringing Robots Home
• Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them
• Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion
• Learning Dexterous Manipulation Using Contact Wrench Guidance From Human Demonstration

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