Feeding torque history as a single decoder token and adding torque prediction as an auxiliary objective improves pretrained VLA success rates on contact-rich manipulation, with large gains on button pushing and charger plugging.
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TA-VLA: Elucidating the Design Space of Torque-aware Vision-Language-Action Models
Feeding torque history as a single decoder token and adding torque prediction as an auxiliary objective improves pretrained VLA success rates on contact-rich manipulation, with large gains on button pushing and charger plugging.