{"paper":{"title":"CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Abdul Haseeb Nizamani, Chutong Wen, Dandi Zhou, Hongxu Ma, Jianqiao Zhu, Wentian Wang, Wuhao Wang, Xinhai Sun, Zhexiong Xue","submitted_at":"2026-05-21T07:21:56Z","abstract_excerpt":"We present CoRMA(Contrastive Robotic Motor Adaptation), a context-based meta-adaptation framework that modifies RMA for force-dominant assembly. CoRMA replaces raw simulator-parameter adaptation with a compact 6D simulator-only semantic contact context describing contact onset, lateral engagement, guided transition, contact direction, and jamming. A deployable causal Transformer adapter infers this context online from force, proprioceptive, and action histories using semantic regression and a force-regime contrastive objective. At deployment, oracle context is removed and replaced by the infer"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.22082","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.22082/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}