VT-WAM jointly predicts visual futures, tactile deformation, and actions via flow matching with Asymmetric MoT attention and contact-gated AVTAG, reporting 71.67% success on six real-world contact-rich tasks.
exUMI: Extensible Robot Teaching System with Action-Aware Task-Agnostic Tactile Representation,
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VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation
VT-WAM jointly predicts visual futures, tactile deformation, and actions via flow matching with Asymmetric MoT attention and contact-gated AVTAG, reporting 71.67% success on six real-world contact-rich tasks.