Showing cs.ROShow all
2 papers · 1 filter
cs.RO2026
HapticWAM: Distilling Imagined Touch into a World-Action Model without Inference-Time Tactile Sensing
Mikhail Sannikov, Ilya Mikhalchuk, Konstantin Gubernatorov +3
Contact-rich manipulation requires estimating forces, slip and contact geometry that can remain ambiguous in scene images. Optical tactile sensors provide both visual observations…
cs.RO2026
HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing
Konstantin Gubernatorov, Mikhail Sannikov, Ilya Mikhalchuk +7
Tactile sensing is a crucial capability for Vision-Language-Action (VLA) architectures, as it enables dexterous and safe manipulation in contact-rich tasks. However, reliance on de…