CompliantVLA-adaptor: VLM-Guided Variable Impedance Action for Safe Contact-Rich Manipulation

Project Overview

CompliantVLA-adaptor is a Visual Language Model (VLM) guided variable impedance action system designed for safe contact-rich robotic manipulation tasks. The system combines visual perception with dynamic impedance control to enable robots to safely and effectively perform various contact tasks.

Key Features

• VLM-guided action planning
• Adaptive impedance control
• Real-time contact force feedback
• Safe human-environment interaction

Installation

Requirements

• Python 3.8+
• PyTorch 1.8+
• ROS Noetic

Installation Steps

git clone this repository
cd CompliantVLA-adaptor
pip install -r requirements.txt

Usage

Basic Usage "example" for your robot

from compliant_vla import VLAController

# Initialize controller
controller = VLAController()

# Start system
controller.start()

License

MIT License

Contact

If you have any questions, please submit an Issue or send an email to xxx@xxx.com (will be updated after review). We will be happy to help!