# FACT post-training method improves VLA success rate in contact-rich manipulation tasks

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/bgrgnki88lyplughxpiiry6y4
- Original: https://arxiv.org/abs/2608.01402

## Summary

The paper investigates why vision-language-action (VLA) models fail in contact-rich manipulation tasks that require precise physical interaction, and proposes two failure modes: precision failures (policies struggle to produce the small, precise corrective actions needed during contact) and force failures (policies fail to respond to contact forces).