2026/08/02 by Carlota Parés-Morlans, Nils Kuhn, Isabel Liu +2
Computer Science · #cs.RO #cs.AI
16 pages
arxiv created 2026/08/02 · arxiv updated 2026/08/04
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 root causes of these failures remain underexplored. We identify two distinct failure modes underlying this gap. Precision failures are rooted in a flow-matching policy training mismatch, and force failures arise from the distinctive structure of force signals. We address each failure mode with a targeted mechanism and combine them into FACT, which achieves 66% average success rate across five contact-rich tasks against 41% for the best prior baseline, in an evaluation spanning almost 2,500 real-world rollouts.