Force Corrections Lifted Contact-Rich Success to 82.2%

ForceDelta-VLA separates a task-level reference action from contact-dependent corrections. A frozen teacher supplies paired force-aware and force-agnostic predictions, allowing the system to distill an explicit correction target without labeled decomposition. Across nine single-arm and bimanual tasks, the full policy reported 82.2% mean success, against 54.4% for ForceVLA and 70.6% for the first-stage temporal teacher. On successful trials, mean peak contact force fell by roughly 26% on both platforms. The correction policy can react between slower reference-action updates using recent force history.