{"paper":{"title":"VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"Low-cost modular robots with a kirigami soft gripper can train and run vision-language-action policies for delicate grasping.","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Bill Cai, Hadi Khezam, Lifeng Zhou, Ran Yang, Shijie Geng, Yiming Feng, Yue Zheng, Zijian An","submitted_at":"2026-05-03T20:04:42Z","abstract_excerpt":"We present VILAS, a fully low-cost, modular robotic manipulation platform designed to support end-to-end vision-language-action (VLA) policy learning and deployment on accessible hardware. The system integrates a Fairino FR5 collaborative arm, a Jodell RG52-50 electric gripper, and a dual-camera perception module, unified through a ZMQ-based communication architecture that seamlessly coordinates teleoperation, data collection, and policy deployment within a single framework. To enable safe manipulation of fragile objects without relying on explicit force sensing, we design a kirigami-based sof"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"Experiments on a grape grasping task validate the effectiveness of the proposed system, confirming that capable manipulation policies can be successfully trained and deployed on low-cost modular hardware.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"That the kirigami-based soft compliant gripper extension induces predictable deformation under compressive loading to provide gentle and repeatable contact with delicate targets without explicit force sensing, and that the collected teleoperation data is sufficient to fine-tune the VLA models effectively.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"VILAS is a low-cost modular robotic platform with a kirigami soft gripper that enables fine-tuning and real-world deployment of VLA models for safe delicate-object manipulation.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"Low-cost modular robots with a kirigami soft gripper can train and run vision-language-action policies for delicate grasping.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"d0814c7f0c6f7ae1dbb96b3bc145f6dc3b61092d341e4a36b24d293198e667e8"},"source":{"id":"2605.02037","kind":"arxiv","version":2},"verdict":{"id":"11ec2128-8b4d-4717-988f-64c8b2efc7e6","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-08T19:29:26.733353Z","strongest_claim":"Experiments on a grape grasping task validate the effectiveness of the proposed system, confirming that capable manipulation policies can be successfully trained and deployed on low-cost modular hardware.","one_line_summary":"VILAS is a low-cost modular robotic platform with a kirigami soft gripper that enables fine-tuning and real-world deployment of VLA models for safe delicate-object manipulation.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"That the kirigami-based soft compliant gripper extension induces predictable deformation under compressive loading to provide gentle and repeatable contact with delicate targets without explicit force sensing, and that the collected teleoperation data is sufficient to fine-tune the VLA models effectively.","pith_extraction_headline":"Low-cost modular robots with a kirigami soft gripper can train and run vision-language-action policies for delicate grasping."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.02037/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-20T16:39:10.017451Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"doi_title_agreement","ran_at":"2026-05-20T04:31:22.128673Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"doi_compliance","ran_at":"2026-05-19T16:45:53.460088Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"06662b41776d10fca0e53fd34324de38ba295ac5f581a0567c777de2fd416071"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":2,"snapshot_sha256":"96c8376aff0bbb67f2178617bf840e7ef16e0a93c80ef9c6b22b5416991fe0ce"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}