2 papers
cs.RO2026
HiTac-WAM: A Hierarchical Tactile World Action Model for Contact-Rich Robot Manipulation
Chao Xue, Chaofan Zhang, Wenxuan Ma +3
World action models jointly predict future visual observations and actions, whereas existing tactile-aware variants typically represent future touch as an image or latent stream wi…
cs.RO2026
FeelWorld: Visuo-Tactile World Model for Hierarchical Contact Prediction and Planning
Wenxuan Ma, Chaofan Zhang, Chao Xue +4
Humans plan physical interactions by imagining the possible outcomes of candidate actions. However, existing visual world models primarily capture appearance dynamics while overloo…