{"id":"https://openalex.org/W7160287121","doi":"https://doi.org/10.48550/arxiv.2605.02037","title":"VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulation","display_name":"VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulation","publication_year":2026,"publication_date":"2026-05-03","ids":{"openalex":"https://openalex.org/W7160287121","doi":"https://doi.org/10.48550/arxiv.2605.02037"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.02037","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.02037","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034565150","display_name":"Zijian An","orcid":"https://orcid.org/0009-0000-0514-9558"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"An, Zijian","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038502781","display_name":"Hadi Khezam","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Khezam, Hadi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135357462","display_name":"Bill Cai","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cai, Bill","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135337244","display_name":"Ran Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Ran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080973846","display_name":"Shijie Geng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Geng, Shijie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135361899","display_name":"Yiming Feng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Feng, Yiming","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135354025","display_name":"Yue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zheng, Yue","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5142873003","display_name":"Lifeng Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Lifeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8917999863624573,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8917999863624573,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.02630000002682209,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.010700000450015068,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8305000066757202},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.8169000148773193},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7870000004768372},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5231999754905701},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.49900001287460327},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.447299987077713},{"id":"https://openalex.org/keywords/systems-architecture","display_name":"Systems architecture","score":0.42239999771118164}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8305000066757202},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.8169000148773193},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7870000004768372},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6029000282287598},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5231999754905701},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5117999911308289},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.49900001287460327},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.447299987077713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4381999969482422},{"id":"https://openalex.org/C98025372","wikidata":"https://www.wikidata.org/wiki/Q477538","display_name":"Systems architecture","level":3,"score":0.42239999771118164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3749000132083893},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.36570000648498535},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.35339999198913574},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3506999909877777},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34290000796318054},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3391000032424927},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33239999413490295},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32269999384880066},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3147999942302704},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.3093999922275543},{"id":"https://openalex.org/C81293917","wikidata":"https://www.wikidata.org/wiki/Q4189534","display_name":"System deployment","level":3,"score":0.3012000024318695},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.29670000076293945},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.28610000014305115}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.02037","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.02037","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.02037","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,96],"present":[1],"VILAS,":[2],"a":[3,26,31,37,43,57,75,134],"fully":[4],"low-cost,":[5],"modular":[6,158],"robotic":[7],"manipulation":[8,63,148],"platform":[9],"designed":[10],"to":[11],"support":[12],"end-to-end":[13],"vision-language-action":[14],"(VLA)":[15],"policy":[16,54],"learning":[17],"and":[18,36,53,90,98,110,154],"deployment":[19,55,168],"on":[20,69,104,133,156],"accessible":[21],"hardware.":[22,159],"The":[23],"system":[24],"integrates":[25],"Fairino":[27],"FR5":[28],"collaborative":[29],"arm,":[30],"Jodell":[32],"RG52-50":[33],"electric":[34],"gripper,":[35],"dual-camera":[38],"perception":[39],"module,":[40],"unified":[41],"through":[42],"ZMQ-based":[44],"communication":[45],"architecture":[46],"that":[47,81,146],"seamlessly":[48],"coordinates":[49],"teleoperation,":[50],"data":[51],"collection,":[52],"within":[56],"single":[58],"framework.":[59],"To":[60],"enable":[61],"safe":[62],"of":[64,141,170],"fragile":[65],"objects":[66],"without":[67],"relying":[68],"explicit":[70],"force":[71],"sensing,":[72],"we":[73],"design":[74],"kirigami-based":[76],"soft":[77],"compliant":[78],"gripper":[79],"extension":[80],"induces":[82],"predictable":[83],"deformation":[84],"under":[85],"compressive":[86],"loading,":[87],"providing":[88],"gentle":[89],"repeatable":[91],"contact":[92],"with":[93],"delicate":[94],"targets.":[95],"deploy":[97],"evaluate":[99],"three":[100],"state-of-the-art":[101],"VLA":[102,172],"models":[103,114,173],"the":[105,139,142,167],"VILAS":[106],"platform:":[107],"pi_0,":[108],"pi_0.5,":[109],"GR00T":[111],"N1.6.":[112],"All":[113],"are":[115],"fine-tuned":[116],"from":[117],"publicly":[118],"released":[119],"pretrained":[120],"checkpoints":[121],"using":[122],"an":[123],"identical":[124],"demonstration":[125],"dataset":[126],"collected":[127],"via":[128],"our":[129],"teleoperation":[130],"pipeline.":[131],"Experiments":[132],"grape":[135],"grasping":[136],"task":[137],"validate":[138],"effectiveness":[140],"proposed":[143],"system,":[144],"confirming":[145],"capable":[147],"policies":[149],"can":[150],"be":[151],"successfully":[152],"trained":[153],"deployed":[155],"low-cost":[157],"Our":[160],"results":[161],"further":[162],"provide":[163],"practical":[164],"insights":[165],"into":[166],"characteristics":[169],"current":[171],"in":[174],"real-world":[175],"settings.":[176]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-06T00:00:00"}
