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World models for manipulation are typically trained from video, yet the events that determine how manipulation unfolds, such as making and releasing contact, are difficult to observe visually and are often easier to sense through touch. We present the Dexterous Tactile World Model (DTWM), a video world model for future...
Experimental results demonstrate consistent improvements over direct prompting across diverse VLMs and evaluation benchmarks, showing that structured physical memories provide an effective and scalable means of enhancing physical plausibility reasoning without additional training.
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