DEFT-VLA: Stage-Localized Force Specialization for Contact-Rich Robotic Manipulation
Overview
DEFT-VLA improves contact-rich robotic manipulation by splitting tasks into vision and force stages, enhancing performance in contact phases while maintaining non-contact robustness. Tested on pipette tip attachment, bimanual aspiration, and whiteboard wiping with significant improvements over baselines. (2026-10-14).
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- arXiv Robotics — research abstractsDEFT-VLA: Stage-Localized Force Specialization for Contact-Rich Robotic Manipulation
DEFT-VLA is a novel approach for contact-rich robotic manipulation that addresses sensory conflicts between vision, proprioception, and force. By splitting the task into vision-dominated non-contact and force-critical contact stages, the method improves performance in contact phases while maintaining robust non-contact behavior. Experiments on pipette tip attachment, bimanual aspiration, and whiteboard wiping show significant improvements over existing baselines.
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