Giving each tactile memory access to phase-matched future vision, while blocking cross-tactile access, raises average simulated manipulation success to 32.0%, versus 23.7% for modality-isolated routing and 14.9% for the UniVTAC-ACT baseline.
Learning Universal Policies via Text- Guided Video Generation,
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Disentangling Visuo-Tactile Foresight: Oracle-Guided Interface Discovery for World Action Models
Giving each tactile memory access to phase-matched future vision, while blocking cross-tactile access, raises average simulated manipulation success to 32.0%, versus 23.7% for modality-isolated routing and 14.9% for the UniVTAC-ACT baseline.