PaCo-VLA: Passivity-Shielded Compliance Prior for Contact-Rich Vision-Language-Action Manipulation 文章

arXiv:2606.00515v1 Announce Type: cross Abstract: Contact-rich manipulation demands both high-level semantic reasoning and the safe regulation of high-frequency contact dynamics. While Vision-Language-Action (VLA) models provide unprecedented semantic generalization, their low-rate outputs lack the reliability required for direct plant authority in force-sensitive tasks. To bridge this semantic-to-control gap, we introduce PaCo-VLA, a passivity-shielded compliance prior that recasts the VLA interface. Rather than trusting VLAs with direct motor commands, PaCo-VLA treats network outputs as task-level compliance proposals: semantic bindings, task stages, and admittance schedules. A high-frequency, proposal-independent passivity shield governs these proposals through energy-tank accounting and boundary checks, preventing invalid, stale, or unverified model predictions from bypassing low-level contact physics.