3 papers
cs.RO2026
VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation
Shuai Tian, Yupeng Zheng, Yuhang Zheng +7
Contact-rich manipulation requires policies to react to local deformation, pressure, slip, and friction, yet these cues are temporally sparse and often invisible in visual observat…
cs.RO2026
TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation
Yujie Zang, Yuhang Zheng, Xian Nie +7
Contact-rich manipulation requires robots to continuously perceive and regulate evolving physical interactions under dynamic contact transitions or complex surface geometries. Rece…
cs.RO2026
OmniVTA: Visuo-Tactile World Modeling for Contact-Rich Robotic Manipulation
Yuhang Zheng, Songen Gu, Weize Li +11
Contact-rich manipulation tasks, such as wiping and assembly, require accurate perception of contact forces, friction changes, and state transitions that cannot be reliably inferre…