CoRMA modifies RMA by replacing raw parameter adaptation with inference of a 6D semantic contact context via a causal Transformer trained with semantic regression and force-regime contrastive loss, yielding higher real-world success than FORGE baselines on PegInsert, GearMesh, and NutThread under ta
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CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation
CoRMA modifies RMA by replacing raw parameter adaptation with inference of a 6D semantic contact context via a causal Transformer trained with semantic regression and force-regime contrastive loss, yielding higher real-world success than FORGE baselines on PegInsert, GearMesh, and NutThread under ta