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Author

Shao-Wei Cui

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Preprint Aug 2026

HiTac-WAM: A Hierarchical Tactile World Action Model for Contact-Rich Robot Manipulation

World action models jointly predict future visual observations and actions, whereas existing tactile-aware variants typically represent future touch as an image or latent stream without modeling the physical dependencies that organize tactile states hierarchically. We present HiTac-WAM, a hierarchical tactile world act...

Chao Xue, Chao-Fan Zhang, Wenxuan Ma et al. · 3 citations

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