TacSushi: Tactile-Grounded World-Action Modeling for Dexterous Sushi Manipulation
Comparisons support complementary benefits of feature-wise gated tactile fusion and training-only predictive supervision of TacSushi, a tactile-grounded, Cosmos3-based world-action policy that learns from recorded future consequences while acting on current observations.
Hao-Di Hu, Kaen Kogashi, T. Koike-Akino
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