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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. Unlike black-box policies, CoRAL uses LLMs not as direct controllers, but as cost designers that synthesize context-aware objective functions for a sampling-based motion planner (MPPI). 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To address the ambiguity of physical parameters in visual data, we introduce a neuro-symbolic adaptation loop: a VLM provides semantic priors for environmental dynamics, such as mass and friction estimates, which are then explicitly refined in real ti","title":"CoRAL: Contact-Rich Adaptive LLM-based Control for Robotic Manipulation","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-06T04:43:18Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.02600"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:d9dc5d67ba25f5df6c7779e56930528cd18a2498d0a3b664758c3a17a1c5f926827131eb0ce261a6d289ac4eefcae1783e539e354bdcfba40f907c5c4d65810e","signer":"crovia.substrate","subject":{"observed_at":"2026-05-06T04:43:18Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.02600"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"04a3645e47ef4f6c43cb183440330a2626159dd407360be59ad29b0322e6f109","leaf_index":116371,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"a43b498b57ce410b2ef02c32e1e285745be58b46e1d3e3444675b12f9751e80f","side":"left"},{"sibling":"413e6636fe7628fe256e5d19ae20e9b9a1155cdfbaadce6c6681d2290b8b4ef4","side":"left"},{"sibling":"e472599656f7f1dca14b6418535ecd90812108dafaa72cff41e6de7f9b51a67e","side":"right"},{"sibling":"1e80cbf00125e96368e740da6672ad782305b254051438ebee80475f5036a273","side":"right"},{"sibling":"674141dd04498c488bfccb4337847b7eebf7d5cf98bb141e733f693508174165","side":"left"},{"sibling":"0517578f6e2ca2cca7411564d69e2ea42debc3c807dd9e2ace366fb4e2318cdb","side":"right"},{"sibling":"7358e5ae489465a3571da7060184d80f8b0b190bcaadbbd228adafc2bda53aa7","side":"right"},{"sibling":"ae2d4d1f9926c807a390f0c20c0a0e8fc89204c3e1f66866d3ea0fda3757402d","side":"left"},{"sibling":"7a43f13f6340a269b939be4b6e73a199a4e8061f0cf9dbb9ba629243174142d3","side":"right"},{"sibling":"c750384c973eaf46aa237cdabe7a75729862dd4101dca10cb8e0626e0ec2d34a","side":"left"},{"sibling":"ddc060ac400459417799f688c75d5b271636afa40d89ec7fc98652473a8061f6","side":"left"},{"sibling":"282afa51266e47629e34d808a360bbb276348bcc5a24bdcc93e83a76e580293e","side":"right"},{"sibling":"05f89b32c00462e60adf95c1fe4579cdc2791b36e8b17573d8f3b5fd5da95a0b","side":"right"},{"sibling":"8ccd9937a2c0d5c04044d07d1557791b7d07bb31eac41a39a675608d44b38f23","side":"right"},{"sibling":"3a5e69cf0803f4c91f3895ed7c9a95748fef240bec4422e167c05300f79f06c0","side":"left"},{"sibling":"f2817ab288b5324fe49770372c7a10f33f7cd11005f8d4c0a730316f5229dc98","side":"left"},{"sibling":"725fac972e772ca0dc598810ea1abc70df472f72d2d6ab8a0baee2b80e5d2f4c","side":"left"},{"sibling":"98fc57dfef8873b512edc8340f7181df57302bb96777625e072235c62d7c5895","side":"right"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":134292,"merkle_root":"77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260515T023701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-15T02:37:25Z","sig_algorithm":"ed25519","signature":"68107a834b00b24f5d4501e5ec727445311f132a486567ecc4c72a4e6dff24c8c21f2de3105293353ba5fdbe370d032819af6aa70f694e2e39b6af6737507009","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_97ce003558b0a14f9d63e8c6d3c923b10fbe4ff41af0fd16108f23d06c98e6cf"}}