PaCo-VLA adds an independent passivity shield to VLA outputs so that semantic proposals for compliance and admittance can be used in contact-rich tasks without violating passivity or causing damage.
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PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation
PaCo-VLA adds an independent passivity shield to VLA outputs so that semantic proposals for compliance and admittance can be used in contact-rich tasks without violating passivity or causing damage.