Zheng Tao

ForeTac-VLA: A Forecasting-Based Tactile-Vision-Language-Action Model for Contact-Rich Robotic Manipulation

ForeTac-VLA is proposed, a forecasting-based tactile-vision-language fusion model that predicts future tactile states to guide action generation and achieves an average success rate of 95%, outperforming the fine-tuned VLA model by 36.25 percentage points and state-of-the-art tactile-enhanced VLA baselines by over 22 p...