CoRL 2026 · Conference on Robot Learning

FR-VLAImplicit Force Reasoning VLA for Contact-Rich Manipulation

Jiaju He¹Zhiyuan Yang¹Ruyang Han¹ Jiahong Tang¹Zhiping Lin¹Haiyue Zhu^2,*

¹School of Electrical and Electronic Engineering, Nanyang Technological University ²Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research (A*STAR) ^*Corresponding author

Watch demos

Real-world demonstrations of FR-VLA across assembly, cable connection, screw tightening, buckle insertion, and curved-surface cleaning.

Real-world demos

Five contact-rich tasks

Watch the robot approach, make contact, and complete each task. The task guides below distinguish free motion and contact.