Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them

arXiv:2608.01402v2 Announce Type: replace-cross Abstract: We address the problem of understanding when and why Vision-Language-Action models struggle with contact-rich manipulation tasks that require precise physical interaction. Prior work has primarily focused on addressing contact failures through force-augmented architectures and training-time regularizers, yet the factors contributing to these failures remain underexplored. We identify two distinct failure modes underlying this gap. Precision failures occur when policies struggle to produce the small, accurate corrective actions required

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