CoRMA enables within-episode adaptation for contact-rich robotic assembly by inferring semantic contact context with a causal Transformer and force-regime contrastive objective, retaining higher real success than FORGE baselines under target-pose noise.
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CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation
CoRMA enables within-episode adaptation for contact-rich robotic assembly by inferring semantic contact context with a causal Transformer and force-regime contrastive objective, retaining higher real success than FORGE baselines under target-pose noise.