DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination
Dexterous manipulation involves contact-rich and fine-grained interactions with the physical world, posing significant challenges for existing vision-language-action (VLA) models due to severe visual occlusions and complex contact dynamics. While recent works have incorporated tactile sensing into robotic manipulation,...
Yan-Kai Fu, Ning Chen, Jun-Kai Zhao et al.
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