HiTac-WAM: A Hierarchical Tactile World Action Model for Contact-Rich Robot Manipulation
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2608.19574v1 Announce Type: new Abstract: World action models jointly predict future visual observations and actions, whereas existing tactile-aware variants typically represent future touch as an image or latent stream without modeling the physical dependencies that organize tactile states hierarchically. We present HiTac-WAM, a hierarchical tactile world action model that forecasts a sequence of future tactile states for each candidate action chunk before execution.