Jun-Zhe Jiang

TacPAC: Tactile Prediction and Real-Time Action Correction in World-Action Models for Contact-Rich Manipulation

World-action models guide action generation with predicted future observations, but vision-centric predictions miss the local contact cues that decide contact-rich manipulation. However, naively predicting future tactile observations as additional views recovers only a third of the achievable gain in our experiments. T...