外观
论文arXiv 2609.257851 个月前
VisForce：用于目标条件灵巧操作的当前力与期望力视觉锚定
针对灵巧手中力与视觉位置难对应的问题，VisForce以视觉力提示和目标条件交叉注意生成动作，并在真机多任务上验证。
Universal Robots UR10e原文链接：VisForce: Visual Grounding of Current and Desired Forces for Goal-Conditioned Dexterous Manipulation（arXiv 2609.25785 · 发布日期：2026-09-22）
VisForce: Visual Grounding of Current and Desired Forces for Goal-Conditioned Dexterous Manipulation
针对灵巧手中力与视觉位置难对应的问题，VisForce以视觉力提示和目标条件交叉注意生成动作，并在真机多任务上验证。
核心要点
- VLA可作为通用操作策略，但灵巧手接触力常以独立状态或专用表示提供，难显式对应到视觉位置。
- VisForce在腕部当前图像和任务目标图像上渲染当前与期望力提示，并用目标条件交叉注意生成力感知动作。
- 在真实UR10与RH56F1灵巧手上评估，涵盖力条件抓取和三个多阶段操作任务。
- 抓取实验中期望力增大时夹持力响应一致，鸡蛋和牙膏管抓取举升成功率分别为70%和80%。
验证范围与局限：验证范围为一台配备RH56F1灵巧手的真实UR10，任务包括力条件抓取和三个多阶段操作任务。
英文摘要 (Abstract)
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.
作者：Jung-Woo Lee, Soo‐Chul Lim
来源
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