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contact-rich tasks 1multimodal fusion 1robot manipulation 1tactile perception 1world action models 1

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cs.RO2026

TacWAM: Anchor-Guided World Action Model with Mechanics-Aware Tactile Prediction

Lei Jin, Yiding Ma, Xin Zhang +3

The paper introduces TacWAM, a mechanics-aware tactile world action model that predicts future tactile signals and uses them as supervision for training contact-rich robot manipula…