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