arxivcs.RO2026-07-03
TACO: TActile World Model as a Self-COrrector forScalable VLA Post-Training
Shengbang Liu, Yueru Jia, Yuyang Yan, Jiaming Liu, Xinran Zhang, Qiuxuan Feng, et al.
Vision-Language-Action (VLA) models have shown promising generalization in robotic manipulation, but they still struggle with contact-rich tasks, where minor contact perturbations can cause unrecoverable failures that are hard to detect from vision alone. Since these failures are…