Youngsun Wi

TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models

Mark Van der Merwe, Mohamad Louai Shehab, Jayjun Lee, Youngsun Wi, Yinpei Dai, Dmitry Berenson, et al.

Vision-Language-Action (VLA) models demonstrate impressive reasoning over visual, semantic, and spatial task variations by leveraging large-scale vision and language pre-training. They remain, however, largely blind to contact forces, which seldom manifest clearly in visual feedb…Read more