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VisForce: Visual Grounding of Current and Desired Forces for Goal-Conditioned Dexterous Manipulation — arXiv:2609.25785

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.25785
License (as archived): CC0-1.0
Archived: 2026-10-08T16:43:40.592Z
SHA-256 of the archived text: fcaf18f7e3d6c24f146478b942c58eda9b3c5a9bb2d4ca36b7c58d7a5da44fc3
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How to cite

VisForce: Visual Grounding of Current and Desired Forces for Goal-Conditioned Dexterous Manipulation — arXiv:2609.25785 — arXiv (en), https://arxiv.org/abs/2609.25785 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_f80efffcccb2 (Metraipolis archive dc_f80efffcccb2, sha256 fcaf18f7e3d6c24f146478b942c58eda9b3c5a9bb2d4ca36b7c58d7a5da44fc3)

BibTeX

@misc{dcf80efffcccb2,
  title = {VisForce: Visual Grounding of Current and Desired Forces for Goal-Conditioned Dexterous Manipulation — arXiv:2609.25785},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.25785},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_f80efffcccb2; sha256 fcaf18f7e3d6c24f146478b942c58eda9b3c5a9bb2d4ca36b7c58d7a5da44fc3},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.25785. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Vision-Language-Action (VLA) models have emerged as general-purpose robotic manipulation policies. However, in dexterous hand manipulation, contact forces are typically provided as separate states or force-specific representations, making it difficult to explicitly represent the spatial correspondence between force and their corresponding visual locations. In this work, we propose VisForce, which visually grounds the current and desired forces at their corresponding fingertip locations. VisForce renders current and desired visual force cues on the current wrist image and a task-specific goal image, and combines the two representations through goal-conditioned cross-attention to generate force-aware actions. We evaluate VisForce using a real UR10 robot equipped with an RH56F1 dexterous hand through force-conditioned grasping and three multi-stage manipulation tasks. In force-conditioned grasping experiments, VisForce exhibited a consistent grip-force response as the desired force increased, and achieved grasp-and-lift success rates of 70% and 80% for an egg and a toothpaste tube, respectively. It further achieved final success rates of 70%, 55%, and 40% on cup insertion/bottle pouring, tong-assisted bread transfer, and slip-modulated peg-in-hole, respectively. These results show that fingertip-aligned visual force representations can be effectively used for force-aware conditioning in VLA-based dexterous hand manipulation.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-23 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.25785 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T15:56:53.466Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-23?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).