Tactile-WAM：触觉感知的世界动作模型
Original title: Tactile-WAM: Touch-Aware World Action Model with Tactile Asymmetric Attention
IndustryAI 82
Source: arXiv cs.ROPublish time unverified
arXiv:2606.26663v3 Announce Type: replace Abstract: World Action Models (WAMs) jointly predict future visual observations and actions, but visual futures alone often miss slip, jamming, contact-direction changes, and subtle misalign- ment in contact-rich manipulation. Tactile signals reveal these hidden physical states, yet naive tactile-token injection can disrupt visual dynamics modeling due to the limited scale of tactile data, a phenomenon we term tactile pollution.