ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation

Jiawen Yu; Hairuo Liu; Qiaojun Yu; Jieji Ren; Ce Hao; Haitong Ding; Guangyu Huang; Guofan Huang; Yan Song; Panpan Cai; Cewu Lu; Wenqiang Zhang

arXiv · 2505.22159

ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation

Jiawen Yu·Hairuo Liu·Qiaojun Yu·Jieji Ren·Ce Hao·Haitong Ding·Guangyu Huang·Guofan Huang·Yan Song·Panpan Cai·Cewu Lu·Wenqiang Zhang

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Abstract

Vision-Language-Action (VLA) models have advanced general-purpose robotic manipulation by leveraging pretrained visual and linguistic representations. However, they struggle with contact-rich tasks that require fine-grained control involving force, especially under visual occlusion or dynamic uncertainty. To address these limitations, we propose ForceVLA, a novel end-to-end manipulation framework that treats external force sensing as a first-class modality within VLA systems. ForceVLA introduces FVLMoE, a force-aware Mixture-of-Experts fusion module that dynamically integrates pretrained visual-language embeddings with real-time 6-axis force feedback during action decoding. This enables context-aware routing across modality-specific experts, enhancing the robot's ability to adapt to subtle contact dynamics. We also introduce \textbf{ForceVLA-Data}, a new dataset comprising synchronized vision, proprioception, and force-torque signals across five contact-rich manipulation tasks. ForceVLA improves average task success by 23.2% over strong pi_0-based baselines, achieving up to 80% success in tasks such as plug insertion. Our approach highlights the importance of multimodal integration for dexterous manipulation and sets a new benchmark for physically intelligent robotic control. Code and data will be released at https://sites.google.com/view/forcevla2025.

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Jiawen Yu, Hairuo Liu, Qiaojun Yu, Jieji Ren, Ce Hao, Haitong Ding, Guangyu Huang, Guofan Huang, Yan Song, Panpan Cai, Cewu Lu, Wenqiang Zhang. 2025-05-28. ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation. https://arxiv.org/abs/2505.22159

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