Author

Ning Cheng

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Jul 2026

τ: Learning Touch-Augmented Vision-Language-Action Models from Future Visual Supervision

Tau is presented, a touch-augmented VLA framework that learns an action-conditioned spatiotemporal tactile representation from future visual supervision inspired by the Joint-Embedding Predictive Architecture (JEPA), and fuses it with vision-language features for action generation.

Ning Cheng, Jinan Xu, Wanlin Li et al. · arXiv.org · 1 citation