{"paper":{"title":"Feeling the Unexpected: ResTacVLA for Contact-Rich Manipulation via Residual Tactile Representation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bin Xie, Ce Hao, Fang Deng, Long Cheng, Pengwei Zhang, Tiancai Wang, Xinpan Meng, Xinyu Guo","submitted_at":"2026-07-03T14:42:30Z","abstract_excerpt":"Tactile perception is indispensable for contact-rich manipulation, yet integrating it into Vision-Language-Action (VLA) models often induces modality collapse, where high-bandwidth visual features overshadow sparse tactile cues. Inspired by Predictive Coding, a neural mechanism where the brain attenuates predictable inputs to prioritize surprising stimuli, we propose ResTacVLA. Rather than treating tactile data as raw input, we reformulate it as a Residual Tactile Representation capturing the discrepancy between visual priors and physical sensations. By filtering out visually predictable dynam"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.03387","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.03387/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}