Preprint
Sep 2026
TacDyn-WAM: Learning Implicit Tactile Dynamics in a Heterogeneous Visuo-Tactile World Action Model
World action models improve robotic manipulation by conditioning actions on predicted futures, yet existing tactile variants largely inherit video-generation pipelines that reconstruct future tactile observations through iterative denoising. Such prediction can become unreliable under deployment drift: small changes in...
En-Yi Wang, Ming-Xin Wang, Quan Shi et al.
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