# Elucidating the Design Space of Torque-aware Vision-Language-Action Models

Paper Submission #39
Anonymous Author(s)
Affiliation

# Torque Demonstration

In this section, we present a video demonstrating torque variations in real-world scenarios. The video showcases a robot arm performing tasks with varying joint torques. From left to right, we present three tasks: Charger Plugging, USB Plugging, and Button Pushing. For each task, the first video provides a top-down view, the second video offers a front view, and the third video visualizes the torque variations. These three videos are time-synchronized and played at 1x speed.

Charger Plugging

USB Plugging

Button Pushing

# Contact-Rich Tasks

In this section, we present five videos showcasing the performance of the torque-aware model in the following five contact-rich tasks: Button Pushing, Charger Plugging, USB Plugging, Door Opening, and Drawer Opening. These videos are played at 1x speed.

##### Button Pushing

##### Charger Plugging

##### USB Plugging

##### Socket Unplugging

##### Door Handle Turning

# Regular Tasks

In this section, we present five videos showcasing the performance of the torque-aware model in the following five regular tasks: Bottle Pick and Place, Liquid Pouring, Stacking Cubes, Push-to-Position, and Opening a Drawer. These videos are played at 1x speed.

##### Bottle Pick and Place

##### Liquid Pouring

##### Stacking Cubes

##### Push-to-Position

##### Opening a Drawer

# Cross Embodiment

In this section, we present a video demonstrating the performance of cross embodiment performance using the ROKAE SR robotic arm. The tasks include inserting a fast-charging connector and a slow-charging connector. The video is played at 1x speed.

##### Inserting a Fast-Charging Connector

##### Inserting a Slow-Charging Connector