AI RESEARCH
CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation
arXiv CS.LG
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ArXi:2605.22082v1 Announce Type: cross We present CoRMA(Contrastive Robotic Motor Adaptation), a context-based meta-adaptation framework that modifies RMA for force-dominant assembly. CoRMA replaces raw simulator-parameter adaptation with a compact 6D simulator-only semantic contact context describing contact onset, lateral engagement, guided transition, contact direction, and jamming. A deployable causal Transformer adapter infers this context online from force, proprioceptive, and action histories using semantic regression and a force-regime contrastive objective.