CoRAL: Contact-Rich Adaptive LLM-based Control for Robotic Manipulation

ArXi:2605.02600v1 Announce Type: cross While Large Language Models (LLMs) and Vision-Language Models (VLMs) nstrate remarkable capabilities in high-level reasoning and semantic understanding, applying them directly to contact-rich manipulation remains a challenge due to their lack of explicit physical grounding and inability to perform adaptive control. To bridge this gap, we propose CoRAL (Contact-Rich Adaptive LLM-based control), a modular framework that enables zero-shot planning by decoupling high-level reasoning from low-level control.