Control · AI and Machine Learning
LIFT (Late Reactive Injection of Force for VLA Post-Training) is a research framework for post-training vision-language-action (VLA) policies that adds contact reactivity through reactive force injection while preserving the general manipulation knowledge of the pretrained model.
The method augments pretrained VLA policies (pi0/pi0.5 from the OpenPI framework) with a reactive "action expert" that uses force feedback. Key components are: causal/reactive force memory for within-chunk action updates, zero-initialized cross attention that preserves pretrained weights, and an online DAgger loop combining offline data with human-corrected rollouts.
LIFT targets contact-rich manipulation. The paper validates it on towel folding, book insertion, and Hanoi ring placement tasks, demonstrating faster learning and better performance than vision-only alternatives.
The project originates mainly from Shanghai Jiao Tong University (with Shanghai Innovation Institute, Southern University of Science and Technology, and Noematrix Ltd.) and was accepted at CoRL 2026. The code is publicly available on GitHub (github.com/y-wng/lift) under the Apache-2.0 license; implemented in Python and built on the OpenPI framework. Related paper: "Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection" (arXiv:2607.14236).
A software library exposing APIs to build, deploy or execute machine-learning models within applications.
A Control Stack is the set of software components responsible for control logic, motion planning, command execution, and coordination of a robot's actuators. It receives high-level goals or waypoints (from planning or AI layers) and translates them into low-level actuator commands, closed-loop feedback control, and safety checks. Common implementations include MoveIt (arm manipulation), Nav2 (mobile navigation), and custom whole-body control stacks for humanoids.
A high-level interpreted language dominant in machine learning. ONNX Runtime provides an official Python API.
A family of open-source operating systems based on the Linux kernel, common on servers, in the cloud and in robotics.
Linux, Python 3.11.8+, uv package manager
License family: Permissive
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