TacWAM: Anchor-Guided World Action Model with Mechanics-Aware Tactile Prediction
Industry
Source: arXiv cs.ROPublish time unverified
arXiv:2607.28391v2 Announce Type: replace Abstract: World Action Models (WAMs) combine future-state prediction with robot action generation, but existing approaches largely rely on visual futures. Visual prediction captures scene structure and object motion, yet provides limited supervision for force, deformation, shear, and slip during contact-rich manipulation.