DeCAL: Towards Physically-Grounded Dexterous Vision-Language-Action Models via Contact-Aware Latent Co-Imagination
DeCAL is presented, a physically-grounded dexterous vision-language-action model that unifies understanding, imagination and action generation for contact-rich dexterous manipulation and introduces Adaptive Visuo-Tactile Fusion that dynamically regulates tactile interactions via a contact-aware gating strategy.
Yan-Kai Fu, Ning Chen, Jun-Kai Zhao et al.
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