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cs.RO2026
DREAMSTEER: Latent World Models Can Steer VLA Policies During Deployment Without Any Finetuning
Hanchen Cui, Sergio Arnaud, Arjun Majumdar +5
Pretrained vision-language-action (VLA) policies show promising zero-shot generalization, but often fail under deployment-time distribution shift, leading to decreased robustness a…
cs.RO2026
Visuo-Tactile World Models
Carolina Higuera, Sergio Arnaud, Byron Boots +3
We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better…