CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation

2026
arxiv.org

Heng Zhang, Wei-Hsing Huang, Qiyi Tong, Gokhan Solak, Puze Liu, Sheng Liu, Jan Peters, Arash Ajoudani

ELLIS Authors

Jan Peters
Program Director • Fellow
Technical University of Darmstadt (TU Darmstadt)
German Research Center for Artificial Intelligence (DFKI)
Arash Ajoudani
Scholar
Italian Institute of Technology (IIT)

Author Locations

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