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Why It Matters
Dexterous manipulation depends on contact dynamics that are often only partially observable from vision.
Provenance
Discovered via ArXiv and published by ArXiv.
Key Claims
Original description
Dexterous manipulation depends on contact dynamics that are often only partially observable from vision. Recent World-Action Models (WAMs) couple predictive video world modeling with action generation, but remain largely vision-centric and therefore cannot directly model these contact dynamics. We present DexTacWAM, a visuo-tactile WAM that encodes each fingertip independently, aggregates the resulting features through a finger- and pose-aware tactile compressor, and injects the tactile latent into a video diffusion world model for joint visuo-tactile world modeling. Across six contact-rich de...
Discovered via ArXiv
Research papers and preprints from arXiv.
Publisher: arxiv.org
ID: http://arxiv.org/abs/2609.24976v1 · Indexed about 1 hour ago