2 papers
cs.RO2026
DexTacWAM: A Visuo-Tactile World-Action Model for Dexterous Manipulation
Haoran Yuan, Zekai Wang, Boning Shao +4
Dexterous manipulation depends on contact dynamics that are often only partially observable from vision. Recent World-Action Models (WAMs) couple predictive video world modeling wi…
cs.RO2026
VTAM: Efficient Visuo-Tactile World-Action Models for Contact-Rich Manipulation without Tactile Pretraining
Haoran Yuan, Weigang Yi, Zhenyu Zhang +11
Tactile vision-language-action models (VLAs) and tactile world-action models (WAMs) are a promising new paradigm for contact-rich manipulation, but existing models either underutil…