PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation
Contact-rich manipulation demands both high-level semantic reasoning and the safe regulation of high-frequency contact dynamics. While Vision-Language-Action (VLA) models provide unprecedented semantic generalization, their low-rate outputs lack the reliability required for direct plant authority in force-sensitive tasks. To bridge this semantic-to-control gap, we introduce PaCo-VLA, a passivity-shielded compliance prior that recasts the VLA interface. Rather than trusting VLAs with direct motor commands, PaCo-VLA treats network outputs as task-level compliance proposals: semantic bindings, task stages, and admittance schedules. A high-frequency, proposal-independent passivity shield gove...
| Authors | Haofan Cao, Zhaoyang Li, Zhichao You |
|---|---|
| Primary category | cs.RO |
| Published | 30 May 2026 |
| Last updated at source | 18 September 2026 |
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