arxivcs.RO2026-07-02
VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation
Shuai Tian, Yupeng Zheng, Yuhang Zheng, Songen Gu, Yujie Zang, Yuxing Qin, et al.
Contact-rich manipulation requires policies to react to local deformation, pressure, slip, and friction, yet these cues are temporally sparse and often invisible in visual observations. Existing visual-tactile policies usually feed tactile observations directly into action predic…