Preprint
Sep 2026
HapticWAM: Distilling Imagined Touch into a World-Action Model without Inference-Time Tactile Sensing
Contact-rich manipulation requires estimating forces, slip and contact geometry that can remain ambiguous in scene images. Optical tactile sensors provide both visual observations of the contact surface and mechanical measurements, yet learning from these signals raises two challenges: representing contact beyond appea...
M. Sannikov, I. Mikhalchuk, Konstantin Gubernatorov et al.
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