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LIFT

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Sep 27, 2026 · Artificial Intelligence

LIFT: Teaching VLA Models Force Perception via Post-Training Without Force Pretraining

Shanghai Jiao Tong University's LIFT method enables Vision-Language-Action models to learn force perception through post-training alone, achieving significant performance gains on contact-rich tasks with only 20-30 force-labeled demonstrations while preserving pretrained knowledge via weight copying and shifted causal attention.

CoRL 2026LIFTShanghai Jiao Tong University

0 likes · 8 min read

LIFT: Teaching VLA Models Force Perception via Post-Training Without Force Pretraining

Machine Learning Algorithms & Natural Language Processing

Feb 9, 2026 · Artificial Intelligence

Real-World Humanoid RL: LIFT’s Pretraining and On-Device Fine‑Tuning Paradigm

The paper presents LIFT, a framework that combines large‑scale off‑policy SAC pretraining with physics‑informed world‑model fine‑tuning to enable safe, sample‑efficient continual reinforcement learning on real humanoid robots, demonstrating zero‑sample deployment and rapid adaptation across diverse speed distributions.

Continuous LearningHumanoid RobotLIFT

0 likes · 13 min read

Real-World Humanoid RL: LIFT’s Pretraining and On-Device Fine‑Tuning Paradigm