arxivcs.RO2026-07-24
ViTacWorld: Scaling Visuo-Tactile World Models for Contact-Rich Robot Manipulation
Yunao Huang, Shiyu Sang, Haotao Lu, Suting Ni, Shijie Wu, Ziyang Guo, et al.
Contact-rich robot manipulation requires physical interaction cues that are often invisible to cameras, making tactile sensing essential for robust control. However, scaling visuo-tactile robot learning remains difficult because real tactile interaction data are expensive to coll…