✳flâneur — a map of the web's best reading

[2602.06001] Visuo-Tactile World Models

arxiv.org · 9,043 words · saved by 1 readers

Abstract:We introduce multi-task Visuo-Tactile World Models (VT-WM), which capture the physics of contact through touch reasoning. By complementing vision with tactile sensing, VT-WM better understands robot-object interactions in contact-rich tasks, avoiding common failure modes of vision-only models under occlusion or ambiguous contact states, such as objects disappearing, teleporting, or moving in ways that violate basic physics. Trained across a set of contact-rich manipulation tasks, VT-WM improves physical fidelity in imagination, achieving 33% better performance at maintaining object permanence and 29% better compliance with the laws of motion in autoregressive rollouts. Moreover, experiments show that grounding in contact dynamics also translates to planning. In zero-shot real-robot experiments, VT-WM achieves up to 35% higher success rates, with the largest gains in multi-step, contact-rich tasks. Finally, VT-WM demonstrates significant downstream versatility, effectively adapting its learned contact dynamics to a novel task and achieving reliable planning success with only a limited set of demonstrations.

# link_2pnte9u73d.pdf ## Metadata - PDFFormatVersion=1.7 - IsLinearized=false - IsAcroFormPresent=false - IsXFAPresent=false - IsCollectionPresent=false - IsSignaturesPresent=false - Author=Carolina Higuera; Sergio Arnaud; Byron Boots; Mustafa Mukadam; Francois Robert Hogan; Franziska Meier - Creator=arXiv GenPDF (tex2pdf:57610bf) - Custom.DOI=https://doi.org/10.48550/arXiv.2602.06001 - Custom.License=http://arxiv.org/licenses/nonexclusive-distrib/1.0/ - Custom.PTEX.Fullbanner=This is pdfTeX, Version 3.141592653-2.6-1.40.28 (TeX Live 2025) kpathsea version 6.4.1 - Custom.arXivID=https://arxiv.

Explore this link on the map →

saved by

related reading