arxivcs.RO2026-07-20
FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation
Ruicheng Li, Qixiu Li, Ruichun Ma, Yu Deng, Lin Luo, Zhiying Du, et al.
Vision-language-action (VLA) models have achieved impressive generalization in robotic manipulation, and recent memory-augmented VLAs have relaxed the Markovian assumption by conditioning on past images or language summaries. Vision-based memory approaches address this by conditi…